Abstract
This paper presents an experiment on impedance adaptation for an under-actuated gripper grasping an unknown object. Under-actuated gripper has broad applications in the field of industrial robotics and on-orbit services because of its better self-adaption. However, subject to uncertain characteristics of the object, it is difficult for an under-actuated gripper to achieve stable grasp. To address this problem, this paper develops impedance adaptation for an under-actuated gripper manipulation with the tactile sensing. A cost function that measures the contact force, velocity and positioning errors of the contact point is defined and the critical impedance parameters are determined that minimize it; this adaptation is feasible for an under-actuated gripper to guarantee a stable grasp without requiring information on the object dynamics. Finally, an experimental setup is established to verify the validity of the proposed method. The experimental results demonstrate that the under-actuated gripper can stably grasp an unknown object.
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Acknowledgements
This work is supported by the Natural Science Foundation of China (Grant Nos. 51375034 and 61327809).
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Yan, S., Chu, Z., Sun, F. (2017). Experiment on Impedance Adaptation for an Under-Actuated Gripper Grasping an Unknown Object with Tactile Sensing. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_27
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DOI: https://doi.org/10.1007/978-981-10-5230-9_27
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