Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation

Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between various postures and with various objects. While passive compliance can be achieved in numerous ways, this paper uses soft skin, as it does not require complex mechanisms and was easy to integrate in the robot hand (Allegro hand). Softness has proven to significantly ease object grasping, and the current paper shows the importance of softness also for in-hand manipulation. In particular, the simple interpolation strategy between various postures is successful when combined with soft fingertips, with or without force control, but fails with hard fingertips. Objects of varying size, shape and hardness were reliably manipulated. While the soft fingertips enabled good results in our experiments, a sufficiently precise definition of the postures and object size was required. When combining the interpolation control with a force control strategy, bigger errors in defining the posture and object size are possible, without deforming or dropping the object, and the resultant force is lower. As a result, we achieved robust in-hand manipulation between various postures and with objects of different size, shape and hardness.

    Original languageEnglish
    Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2542-2547
    Number of pages6
    Volume2016-November
    ISBN (Electronic)9781509037629
    DOIs
    Publication statusPublished - 2016 Nov 28
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
    Duration: 2016 Oct 92016 Oct 14

    Other

    Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    CountryKorea, Republic of
    CityDaejeon
    Period16/10/916/10/14

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    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Or, K., Tomura, M., Schmitz, A., Funabashi, S., & Sugano, S. (2016). Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2542-2547). [7759395] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759395