Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

DOI Web Site 9 Citations 10 References Open Access
  • Gunji Daisuke
    Graduate School of Electro-Communications, The University of Electro-Communications
  • Araki Takuma
    Graduate School of Electro-Communications, The University of Electro-Communications
  • Namiki Akio
    Graduate School of Information Science and Technology, The University of Tokyo
  • Ming Aiguo
    Graduate School of Electro-Communications, The University of Electro-Communications
  • Shimojo Makoto
    Graduate School of Electro-Communications, The University of Electro-Communications

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Other Title
  • 触覚センサによる滑り検出に基づく多指ハンドの把持力制御
  • ショッカク センサ ニ ヨル スベリ ケンシュツ ニ モトズク タシ ハンド ノ ハジリョク セイギョ

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To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for detecting the slip of grasping object by force output of the Center of Pressure (CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load which is applied on the surface of the sensor within 1 [ms] . This sensor is arranged on finger of the robot hand, and the effectiveness as slip detecting sensor is confirmed by experiment of slip detection on grasping. Finally, we propose a method for controlling grasping force resist the tangential force added to the grasping object by feedback control system of the CoP sensor force output.

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