A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

    研究成果: Conference contribution

    13 引用 (Scopus)

    抄録

    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.

    元の言語English
    ホスト出版物のタイトル2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
    ページ288-293
    ページ数6
    DOI
    出版物ステータスPublished - 2010
    イベント2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN
    継続期間: 2010 12 62010 12 8

    Other

    Other2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
    Nashville, TN
    期間10/12/610/12/8

    Fingerprint

    Crushing
    End effectors
    Stiffness
    Friction
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Hardware and Architecture
    • Human-Computer Interaction

    これを引用

    Sugaiwa, T., Fujii, G., Iwata, H., & Sugano, S. (2010). A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness. : 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 (pp. 288-293). [5686331] https://doi.org/10.1109/ICHR.2010.5686331

    A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness. / Sugaiwa, Taisuke; Fujii, Genki; Iwata, Hiroyasu; Sugano, Shigeki.

    2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010. 2010. p. 288-293 5686331.

    研究成果: Conference contribution

    Sugaiwa, T, Fujii, G, Iwata, H & Sugano, S 2010, A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness. : 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010., 5686331, pp. 288-293, 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010, Nashville, TN, 10/12/6. https://doi.org/10.1109/ICHR.2010.5686331
    Sugaiwa T, Fujii G, Iwata H, Sugano S. A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness. : 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010. 2010. p. 288-293. 5686331 https://doi.org/10.1109/ICHR.2010.5686331
    Sugaiwa, Taisuke ; Fujii, Genki ; Iwata, Hiroyasu ; Sugano, Shigeki. / A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness. 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010. 2010. pp. 288-293
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