Control of Sliding Velocity in Robotic Object Pivoting Based on Tactile Sensing⁎This work was supported by the European Commission within the H2020 REFILLS project, ID n. 731590. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Costanzo, Marco; Maria, Giuseppe De; Natale, Ciro
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 9950
• Page End: 9955
• Publication Date: 2020
• Subjects: Robotic manipulators -- Robot control -- Friction -- Nonlinear systems -- Observers; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2710
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Control of robots manipulating objects using only the sense of touch is a challenge. In-hand motion of the manipulated object highly depends on the friction forces acting at the contact surfaces. Soft contacts allow torsional frictions as well as friction forces, therefore robots can perform more complex manipulation abilities, like object pivoting. Control of the pivoting sliding motion is very difficult especially without any visual feedback. The paper proposes a novel method to control the sliding velocity of the object by using a simple parallel gripper endowed with force/tactile sensors only. The strategy is based on a nonlinear observer that estimates the sliding velocity from force/torque measurements and a model of the sliding dynamics.