Abstract
In this paper some applications of dexterous robotic hands to fine manipulation operations are discussed. Common to this kind of operations is the important role played by the frictional characteristics of the fingers and of manipulated objects. The paper discusses a procedure for measuring apparent coefficients of friction between the fingertips and manipulated objects. To take into account real contact phoenomena, the distinction is introduced between translational and rotational friction limits. Reported experiments rely on force-based (intrinsic) contact sensing devices, implemented in the phalanges of an articulated robot hand (Salisbury Hand). Data collected during these procedures can be subsequently used for tasks such as recognizing the superficial features of objects, controlling the internal grasp forces exerted by the hand on delicate objects, and following the contours of the surface of unknown objects.
Antonio Bicchi is currently a Research Associate on leave from the Department of Electric Systems and Automation (DSEA) and Centro “E. Piaggio,” Universitá di Pisa, Italia.
J. Kenneth Salisbury is currently a Research Scientist at the Artificial Intelligence Laboratory at Massachusetts Institute of Technology.
David Brock is currently a Ph.D. candidate in the Department of Mechanical Engineering at Massachusetts Institute of Technology.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
Mason, M.T. and Salisbury, J.K.: “Robot Hands and the Mechanics of Manipulation,” MIT Press, Cambridge, MA, 1985.
Jacobsen, S.C., Wood, J.E., Knutti, D.F., Biggers, K.B.: “The Utah-MIT Dextrous Hand: Work in Progress”, in The Int. Jour. of Robotics Research, vol.3, no.4, pp. 21–50, 1984.
Nicholls, H.R. and Lee, M.H.: “A Survey of Robot Tactile Sensing Technology,” Int. Jour. of Robotics Research, Vol. 8, No. 3, June 1989.
Hackwood, S., Beni, G., Hornak, L.A., Wolfe, R., Nelson, T.J.: “Torque Sensitive Tactile Array for Robotics”, in The Int. Jour. of Robotics Research vol.2, no. 2, 1983.
Domenici, C., DeRossi, D., Bacci, A., Bennati, S.: “Shear Stress detection by a Piezoelectric Polymer Tactile Sensor”, IEEE Trans. on Electr. Insulation, vol. EI 24, no.6, 1989.
Bicchi, A., Salisbury, J.K., and Brock, D.L.: “Contact Sensing from Force Measurements”, MIT AI Lab Memo no.1262, October 1990.
Armstrong, B.: “Dynamics for Robot Control: Friction Modeling and ensuring excitation During Parameter Identification”, Ph.D. Thesis, Electrical Engineering Dept., Stanford University, 1988.
Armstrong-Helouvry, B.: “Stick-Slip Arising from Stribeck Friction”, Proc. IEEE Int. Conf. on Robotics and Automation, 1990.
Balestrino, A., and Bicchi, A.: “Adaptive Surface Following and Reconstruction Using Intrinsic Tactile Sensing,” Proc. Int. Works. on Sensorial Integration for Industrial Robots, Zaragoza, Spain, 1989.
Brock, D.L.: “Enhancing the dexterity of a Robot hand Using Controlled Slip”, Proc. IEEE Int. conf. Robotics and Automation, 1988.
Howe, R.D., and Cutkosky, M.R.: “Sensing Skin Acceleration for Slip and Texture Perception”, Proc. IEEE Int. Conf. on Robotics and Automation, 1989.
Jameson, J.W.: “Analythic Techniques for Automated Grasp”, Doctoral Dissertation, Stanford University, 1985.
Howe, R.D., Kao, I., and Cutkosky, M.R.: “The Sliding of Robot Fingers Under Combined Torsion and Shear Loading”, Proc. IEEE Int. Conf. on Robotics and Automation, 1988.
Goyal, S.: “Planar Sliding of a Rigid Body With Dry Friction: Limit Surfaces and Dynamics of motion”, Ph.D. Thesis, Mech. Eng. Dept., Cornell University, Ithaca, 1989.
Bicchi, A., Bergamasco, M., Dario, P., Fiorillo, A.S.: “Integrated Tactile Sensing for Gripper Fingers”, Proc. Int. Conf. on Robot Vision and Sensory Control — RoViSeC '88, Zurich. I.F.S. Publications Ltd., 35–39 High Street, Kempston, Bedford MK 42 7BT, U.K., 1988.
Salisbury, J.K., Brock, D.L., Chiu, S.L.: “Integrated Language, Sensing and Control for a Robot Hand”, Proc. 3rd ISRR, Gouvieux, France, MIT Press, Cambridge MA, 1985.
Chiu, S.L.: “Generating Compliant Motion of Objects with an Articulated Hand”, M.S. Thesis, MIT AI Lab Technical Report 1029, 1985.
Brock, D.L, and Chiu, S. “Environment Perceptions of an Articulated Robot Hand Using Contact Sensors,” Proc. ASME Winter Annual Meeting, Miami, FL, 1985.
Bicchi, A.: “On the Optimal Design of Multi-Axis Force Sensors”, MIT AI Lab Memo no.1263, October 1990.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1993 Springer-Verlag London Limited
About this paper
Cite this paper
Bicchi, A., Kenneth Salisbury, J., Brock, D.L. (1993). Experimental evaluation of friction characteristics with an articulated robotic hand. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036137
Download citation
DOI: https://doi.org/10.1007/BFb0036137
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19851-2
Online ISBN: 978-3-540-39323-8
eBook Packages: Springer Book Archive