Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917096680587264 |
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| author | Waltersson, Gabriel Arslan Karayiannidis, Yiannis |
| author_facet | Waltersson, Gabriel Arslan Karayiannidis, Yiannis |
| contents | Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control, and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object's orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture's novel capabilities for manipulating objects with flat surfaces. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_19660 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers Waltersson, Gabriel Arslan Karayiannidis, Yiannis Robotics Systems and Control Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control, and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object's orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture's novel capabilities for manipulating objects with flat surfaces. |
| title | Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2410.19660 |