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Authors: Pavel Dzitac 1 ; Abdul Md Mazid 2 ; Guy Littlefair 1 and Ashwin Polishetty 1

Affiliations: 1 Deakin University, Australia ; 2 Macquarie University, Australia

ISBN: 978-989-758-198-4

Keyword(s): Robotic Grasping, Slippage Sensing, Tangential Force Sensing, Slippage Detection, Slippage Prevention, Incipient Slippage, Grasp Force Estimation, Grasp Force Control.

Related Ontology Subjects/Areas/Topics: Force and Tactile Sensors ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robot Design, Development and Control ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents experimental results obtained using a friction-based slippage and tangential force sensing device that has been developed for the purpose of reliable object slippage prevention during robotic manipulation. The experimental results obtained demonstrate that the developed slippage sensing strategy is rugged and reliable even in its current “rough prototype” state of development. This work has the potential to yield a low cost and highly customisable slippage and tangential force sensing device for a variety of robotic object grasping and manipulation applications. It is envisaged that the work presented here will be beneficial to researchers in the area of object slippage prevention.

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Paper citation in several formats:
Dzitac, P.; Md Mazid, A.; Littlefair, G. and Polishetty, A. (2016). Object Slippage Prevention using Different Control Strategies.In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 559-566. DOI: 10.5220/0006003505590566

@conference{icinco16,
author={Pavel Dzitac. and Abdul Md Mazid. and Guy Littlefair. and Ashwin Polishetty.},
title={Object Slippage Prevention using Different Control Strategies},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={559-566},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006003505590566},
isbn={978-989-758-198-4},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Object Slippage Prevention using Different Control Strategies
SN - 978-989-758-198-4
AU - Dzitac, P.
AU - Md Mazid, A.
AU - Littlefair, G.
AU - Polishetty, A.
PY - 2016
SP - 559
EP - 566
DO - 10.5220/0006003505590566

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