Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866913371781070848 |
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| author | Han, Yuanfeng Jiang, Boren Chirikjian, Gregory S. |
| author_facet | Han, Yuanfeng Jiang, Boren Chirikjian, Gregory S. |
| contents | This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (CoP). A calibration method is developed to improve the CoP measurement accuracy. A hybrid force-alignment-position control framework is proposed to regulate the gripping forces and to ensure the surface alignment between the grippers and the object. Limit surface theory is incorporated as a contact friction modeling approach to determine the magnitude of gripping forces for slippage avoidance. The integrated hardware and software system is demonstrated with a NAO humanoid robot. Experiments show the effectiveness of the overall approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_20969 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots Han, Yuanfeng Jiang, Boren Chirikjian, Gregory S. Robotics Systems and Control This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (CoP). A calibration method is developed to improve the CoP measurement accuracy. A hybrid force-alignment-position control framework is proposed to regulate the gripping forces and to ensure the surface alignment between the grippers and the object. Limit surface theory is incorporated as a contact friction modeling approach to determine the magnitude of gripping forces for slippage avoidance. The integrated hardware and software system is demonstrated with a NAO humanoid robot. Experiments show the effectiveness of the overall approach. |
| title | Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2405.20969 |