Please use this identifier to cite or link to this item: https://www.um.edu.mt/library/oar/handle/123456789/72692
Title: A biologically inspired sensor for the prevention of object slip during robotic grasping and manipulation
Authors: Saliba, Michael A.
Seguna, C. M.
Keywords: Robotics
Artificial intelligence
Computational intelligence
Evolutionary robotics
Issue Date: 2004
Publisher: Institute of Electrical and Electronics Engineers
Citation: Saliba, M. A., & Seguna, C. M. (2004). A biologically inspired sensor for the prevention of object slip during robotic grasping and manipulation. IEEE International Conference on Intelligent Manipulation and Grasping (IMG04), Genoa. 46-51.
Abstract: In this paper, we present an overview of our work in the development, realization, dynamic analysis, and simulation of an innovative sensing method for the prevention of object slip during robotic grasping and manipulation. The new sensor is biologically inspired, and measures the extension of a rubber skin to detect impending slip before it occurs, and to provide feedback for active control of the finger contact force during grasping. The sensor has low size and weight, and does not interfere with the finger-object interface. Comparison between experiments and simulation have yielded very good agreement, and we are extending the simulations to the case of a three-fingered gripper with slip-sensing capability that grasps an asymmetric and varying load using minimum contact forces. The simulations will be used to optimise the design parameters and control strategies of the gripper.
URI: https://www.um.edu.mt/library/oar/handle/123456789/72692
Appears in Collections:Scholarly Works - FacEngME



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