TY - GEN
T1 - A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness
AU - Sugaiwa, Taisuke
AU - Fujii, Genki
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2010/12/1
Y1 - 2010/12/1
N2 - A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology.
AB - A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology.
UR - http://www.scopus.com/inward/record.url?scp=79851471908&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79851471908&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2010.5686331
DO - 10.1109/ICHR.2010.5686331
M3 - Conference contribution
AN - SCOPUS:79851471908
SN - 9781424486885
T3 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
SP - 288
EP - 293
BT - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
T2 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Y2 - 6 December 2010 through 8 December 2010
ER -