Grasping force control in master-slave system with partial slip sensor

Yuta Koda, Takashi Maeno

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

This paper discusses the development and control of the master-slave system capable of grasping an object with unknown coefficient of static friction. Partial slip information is known to be essential for conducting stable grasping in teleoperating system. The developed partial slip sensor contains strain gages in several ridges placed on the curvature contact surface of the elastic body. By measuring strain velocity of each ridge with the strain gages, the vibration that occurs due to the partial slip can be detected. We developed the master-slave system with the slave robot uses the developed sensor to detect a partial slip and automatically controls the grasping force. When an operator intentionally decreases the grasping force applied to the master device in order to release an object, the suppressor suppresses grasping force that is automatically increased by the slave robot. Through the grasp manipulation experiment, the validity of the developed system was confirmed.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ4641-4646
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域China
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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