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Advances in Robotics: Modeling, Control and Applications
Title
Advances in Robotics: Modeling, Control and Applications
Editor
Calin Ciufudean and Lino García
Price
USD$139.00
ISBN
978-1-461108-443
Clicks
33285

Chapter 4

Advances in Robotics: Modeling, Control and Applications

Evaluation of Robot Grasping Motion based on Active Tactile-Slippage Sensation Algorithm

by Hanafiah Bin Yussof and Masahiro Ohka

Viewed: 2122

Abstract

Grasping is a typical humans ability that is performable in robotic hand system nowadays. Tactile and slippage sensations are very important in grasping motion. For robot system, these two abilities are very difficult to archive although it looks simple for humans. To successfully manipulate objects in the real world, robot systems require some form of tactile feedback to distinguish the object’s hardness, structure and geometrical position. This chapter presents experimental results of grasp and twist motions to evaluate performance of a new control algorithm in a robot hand based on tactile slippage sensation. The experiment was conducted using a multi-fingered humanoid robot arm whose hands are equipped with optical three-axis tactile sensors. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. To improve performance during grasp and twist motions, we present analysis of slippage direction and classify the control algorithm in two phases: grasp-move-release and grasp-twist. We present detailed explanation of the control algorithm based on the existing robot arm control system. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish grasping task based on tactile-slippage sensation.

Author Details

Hanafiah Bin Yussof
Universiti Teknologi MARA, Malaysia
Masahiro Ohka
Nagoya University, Japan

Citation

Hanafiah Bin Yussof and Masahiro Ohka. Evaluation of Robot Grasping Motion based on Active Tactile-Slippage Sensation Algorithm. In Advances in Robotics: Modeling, Control and Applications. ISBN:978-1-461108-443. iConcept Press. 0000.

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