| contributor author | Han, Yuanfeng | |
| contributor author | Jiang, Boren | |
| contributor author | Chirikjian, Gregory S. | |
| date accessioned | 2023-11-29T19:10:30Z | |
| date available | 2023-11-29T19:10:30Z | |
| date copyright | 4/21/2023 12:00:00 AM | |
| date issued | 4/21/2023 12:00:00 AM | |
| date issued | 2023-04-21 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_15_3_031010.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4294632 | |
| description abstract | This paper introduces a pair of low-cost, light-weight, and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (CoP). A calibration method is developed to improve the CoP measurement accuracy. A hybrid force-alignment-position control framework is proposed to regulate the gripping forces and to ensure the surface alignment between the grippers and the object. Limit surface theory is incorporated as a contact friction modeling approach to determine the magnitude of gripping forces for slippage avoidance. The integrated hardware and software system is demonstrated with an NAO humanoid robot. Experiments show the effectiveness of the overall approach. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots | |
| type | Journal Paper | |
| journal volume | 15 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4062273 | |
| journal fristpage | 31010-1 | |
| journal lastpage | 31010-12 | |
| page | 12 | |
| tree | Journal of Mechanisms and Robotics:;2023:;volume( 015 ):;issue: 003 | |
| contenttype | Fulltext | |
