- Title
- Friction-based slippage and tangential force detection in robotic grasping
- Creator
- Dzitac, Pavel; Mazid, Abdul Md; Ibrahim, Yousef; Choudhury, Tanveer; Appuhamillage, Gayan
- Date
- 2015
- Type
- Text; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/158572
- Identifier
- vital:11798
- Identifier
-
https://doi.org/10.1109/IECON.2015.7392864
- Identifier
- ISBN: 978-1-4799-1762-4
- Abstract
- This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.
- Publisher
- IEEE
- Relation
- IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Rights
- © 2015 IEEE
- Rights
- This metadata is freely available under a CCO license
- Subject
- Tactile sensing; Intelligent grasping; Slippage detection; Robotic gripper; Robotic manipulator
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