In-hand manipulation using gravity and controlled slip
2015 (English)In: Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, IEEE conference proceedings, 2015, 5636-5641 p.Conference paper (Refereed)
In this work we propose a sliding mode controllerfor in-hand manipulation that repositions a tool in the robot’shand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch graspand we model the system as a link attached to the grippervia a passive revolute joint with friction, i.e., the grasp onlyaffords rotational motions of the tool around a given axis ofrotation. The robot controls the slippage by varying the openingbetween the fingers in order to allow the tool to move tothe desired angular position following a reference trajectory.We show experimentally how the proposed controller achievesconvergence to the desired tool orientation under variations ofthe tool’s inertial parameters.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2015. 5636-5641 p.
robotics, manipulation, in-hand manipulation, extrinsic dexterity, friction, slip
IdentifiersURN: urn:nbn:se:kth:diva-178958DOI: 10.1109/IROS.2015.7354177ISI: 000371885405113ScopusID: 2-s2.0-84958153950OAI: oai:DiVA.org:kth-178958DiVA: diva2:878687
IEEE/RSJ International Conference on Intelligent Robots and Systems
FunderEU, FP7, Seventh Framework Programme, ICT-288533
QC 201601122015-12-092015-12-092016-05-24Bibliographically approved