Slipping detection and avoidance based on Kalman filter

被引：22

作者：

Cavallo, Alberto ^{[1
]}

De Maria, Giuseppe ^{[1
]}

Natale, Ciro ^{[1
]}

Pirozzi, Salvatore ^{[1
]}

机构：

[1] Univ Naples 2, Dipartimento Ingn Ind & Informaz, I-81031 Aversa, Italy

来源：

MECHATRONICS | 2014年 / 24卷 / 05期

关键词：

Robotic manipulation; Slipping detection; Slipping avoidance; Friction coefficient estimation; FORCE; TACTILE; OBJECT; SENSOR;

D O I：

10.1016/j.mechatronics.2014.05.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of this paper is to present the latest slipping detection and avoidance algorithms developed by the authors for application in robotic manipulation tasks. Slipping can happen not only in quasi-static conditions such as in grasping tasks but also during dynamic manipulation, therefore the availability of slip control techniques effective in both conditions, such as those proposed here, are essential in real robotic applications. A new algorithm is also proposed to estimate on-line the actual friction coefficient at the contact with the manipulated object by means of a preliminary exploration phase, thus enabling safe manipulation of objects with unknown surface properties. A detailed dynamic simulator is presented and experimentally validated on a mechatronic test bench used for proving the effectiveness of the proposed approach. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：489 / 499

页数：11

共 33 条

[1] Revisiting the LuGre Friction Model STICK-SLIP MOTION AND RATE DEPENDENCE [J].

Astrom, Karl Johan ;

Canudas-de-wit, Carlos .

IEEE CONTROL SYSTEMS MAGAZINE, 2008, 28 (06) :101-114

[2] Mechanisms for force adjustments to unpredictable frictional changes at individual digits during two-fingered manipulation [J].

Birznieks, I ;

Burstedt, MKO ;

Edin, BB ;

Johansson, RS .

JOURNAL OF NEUROPHYSIOLOGY, 1998, 80 (04) :1989-2002

[3]

Cabibihan John-John, 2012, 2012 IEEE Haptics Symposium (HAPTICS), P439, DOI 10.1109/HAPTIC.2012.6183828

[4] Online Segmentation and Classification of Manipulation Actions From the Observation of Kinetostatic Data [J].

Cavallo, Alberto ;

Falco, Pietro .

IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 2014, 44 (02) :256-269

[5] Silicone-Rubber-Based Tactile Sensors for the Measurement of Normal and Tangential Components of the Contact Force [J].

D'Amore, Alberto ;

De Maria, Giuseppe ;

Grassia, Luigi ;

Natale, Ciro ;

Pirozzi, Salvatore .

JOURNAL OF APPLIED POLYMER SCIENCE, 2011, 122 (06) :3758-3770

[6] Tactile Sensing-From Humans to Humanoids [J].

Dahiya, Ravinder S. ;

Metta, Giorgio ;

Valle, Maurizio ;

Sandini, Giulio .

IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (01) :1-20

[7]

Dahl P, 1968, TOR0158H31071811 AER

[8] Tactile data modeling and interpretation for stable grasping and manipulation [J].

De Maria, G. ;

Natale, C. ;

Pirozzi, S. .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2013, 61 (09) :1008-1020

[9] Force/tactile sensor for robotic applications [J].

De Maria, G. ;

Natale, C. ;

Pirozzi, S. .

SENSORS AND ACTUATORS A-PHYSICAL, 2012, 175 :60-72

[10]

De Maria G, 2013, P 2013 IEEE INT C RO, P3508

← 1 2 3 4 →