Slip detection and control using tactile and force sensors

IEEE/ASME Transactions on Mechatronics

Volumn 5, Issue 3, 2000, Pages 235-243

  Melchiorri, Claudio ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE MEASUREMENT; FRICTION; MANIPULATORS; MOTION CONTROL; SENSORS; TORQUE MEASUREMENT;

SLIP DETECTION AND CONTROL; TACTILE SENSORS;

MECHATRONICS;

EID: 0034271491     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/3516.868914     Document Type: Article

References (29)

1. A. Pugh, Robot Sensors, Vol. 2: Tactile and Non-Vision. Berlin, Germany: Springer-Verlag, 1986.
2. H. R. Nicholls and M. H. Lee, "A survey of robot tactile sensing technology," Int. J. Robot. Res., vol. 8, no. 3, pp. 3-30, June 1989.
3. R. S. Fearing, "Tactile sensing mechanisms," Int. J. Robot. Res., vol. 9, no. 3, pp. 3-23, 1990.
4. M. H. Lee and H. R. Nicholls, "Tactile sensing for mechatronics-A state of the art survey," Mechatron., vol. 9, pp. 1-31, 1999.
5. J. Webster, Ed., Tactile Sensors for Robotics and Medicine. New York: Wiley, 1988.
6. W. Jongkind and C. Melchiorri, "Tactile sensing for robotic manipulation," presented at the IEEE Int. Conf. Robotics and Automation, Minneapolis, MM, Apr. 22-28, 1996.
7. J. K. Salisbury, "Interpretation of contact geometries from force measurements," in Proceedings of the 1st International Symposium on Robotic Research, M. Brady and R. Paul, Eds. Cambridge, MA: MIT Press, 1984.
8. A. Bicchi and P. Dario, "Intrinsic tactile sensing for artificial hands," in Robotics Research, R. Bolles and R. Roth, Eds. Cambridge, MA: MIT Press, 1987.
9. A. Bicchi, "Intrinsic contact sensing for soft fingers," in Proc. IEEE Conf. Robotics and Automation, Cincinnati, OH, May 1990, pp. 968-973.
10. A. Cicchetti, A. Eusebi, C. Melchiorri, and G. Vassura, "An intrinsic tactile force sensor for robotic manipulation," in Proc. 7th. Int. Conf. Advanced Robotics, ICAR '95, Sant Feliu de Guixols, Spain, Sept. 20-22, 1995, pp. 889-894.
11. E. G. M. Holweg, H. Hoeve, W. Jongkind, L. Marconi, C. Melchiorri, and C. Bonivento, "Slip detection by tactile sensors: Algorithms and experimental results," in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, Apr. 22-28, 1996, pp. 3234-3239.
12. M. R. Tremblay and M. R. Cutkosky, "Estimating friction using incipient slip sensing during a manipulation task," in Proc. 1993 IEEE Int. Conf. Robotics and Automation, 1993, pp. 429-134.
13. L. Marconi and C. Melchiorri, "Incipient slip detection and control using a rubber-based tactile sensor," in IFAC'96 World Congr., San Francisco, CA, June 30-July 5, 1996, pp. 475-80.
14. A. Bicchi, M. Bergamasco, P. Dario, and A. Fiorillo, "Integrated tactile sensing for gripper fingers," in Proc. 7th Int. Conf. Robot Vision and Sensory Control, RoWSec'88, Zurich, CH, 1988, pp. 339-349.
15. R. D. Howe, "Tactile sensing and control of robotic manipulation," J. Adv. Robot., vol. 8, no. 3, pp. 245-261, 1994.
16. M. M. Svinin and M. Uchiyama, "Optimal geometric structures of force/torque sensors," Int. J. Robot. Res., vol. 14, no. 6, pp. 560-573, 1995.
17. H. Maekawa, K. Tanie, K. Komoriya, M. Kaneko, C. Horiguchi, and T. Sugawara, "Development of a finger-shaped tactile sensor and its evaluation by active touch," in Proc. IEEE Int. Conf. Robotics and Automation, June 1992, pp. 2221-2233.
18. E. J. Nicolson and R. S. Fearing, "Sensing capabilities of linear elastic cylindrical fingers," in Proc. RSJ/IEEEInt. Conf. Intelligent Robots and Systems, vol. 1, 1993, pp. 178-185.
19. T. Speeter, "A tactile sensing system for robotic manipulation," Int. J. Robot. Res., vol. 9, no. 6, pp. 25-36, 1990.
20. K. B. Shimoga and A. A. Goldenberg, "Soft robotic fingertips-Part II: Modeling and impedance regulation," Int. J. Robot. Res., vol. 15, no. 4, pp. 335-350, 1996.
21. J. S. Son and R. D. Howe, "Tactile sensing and stiffness control with multifingered hands," in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, Apr. 22-28, 1996, pp. 3228-3233.
22. Y. Yamada, K. Santa, N. Tushida, and K. Imai, "Active sensing of static friction coefficient i for controlling grasping forces," in Proc. Int. Conf. Advanced Robotics, Tokyo, Japan, 1999, pp. 239-242.
23. R. D. Howe, I. Kao, and M. R. Cutkosky, "The sliding of the robot fingers under combined torsion and shear loading," Proc. IEEE Int. Conf. Robotics and Automation, pp. 103-105, 1988.
24. C. Bonivento and C. Melchiorri, "Toward dextrous manipulation with the U.B. Hand II," in Proc. 12th. 1FAC World Congr., vol. 10, Sydney, Australia, July 19-23, 1993, pp. 185-188.
25. E. G. M. Holweg, "Object recognition using a tactile matrix sensor," in Proc. European Robotics and Intelligent Systems Conf., EURISCON'94, Malaga, Spain, August 22-26, 1994.
26. M. Erdmann, "On a representation of friction in configuration space," Int. J. Robot. Res., vol. 13, no. 3, pp. 240-271, June 1994.
27. J. W. Jameson, "Analythic techniques for automated grasp," Ph.D. dissertation, Stanford Univ., Stanford, CA, 1985.
28. S. Goyal, "Planar sliding of a rigid body with dry friction: Limit surfaces and dynamics of motion," Ph.D. dissertation, Faculty of Grad. School, Cornell University, Ithaca, NY, 1989.
29. L. Sciavicco and B. Siciliano, "A solution algorithm to the inverse kinematic problem for redundant manipulators," IEEE J. Robot. Automat., vol. 4, pp. 403-10, Aug. 1988.