Stable grip control on soft objects with time-varying stiffness

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Title: Stable grip control on soft objects with time-varying stiffness
Author(s): Nanayakkara, T
Jiang, A
Del Rocío Armas Fernández, M
Liu, H
Althoefer, K
Bimbo, J
Item Type: Journal Article
Abstract: Humans can hold a live animal like a hamster without overly squeezing despite the fact that its soft body undergoes impedance and size variations due to breathing and wiggling. Although the exact nature of such biological motor controllers is not known, existing literature suggests that they maintain metastable interactions with dynamic objects based on prediction rather than reaction. Most robotic gripper controllers find such tasks very challenging mainly due to hard constraints imposed on the stability of closed-loop control and inadequate rates of convergence of adaptive controller parameters. This paper presents experimental and numerical simulation results of a control law based on a relaxed stability criterion of reducing the probability of failure to maintain a stable grip on a soft object that undergoes temporal variations in its internal impedance. The proposed controller uses only three parameters to interpret the probability of failure estimated using a history of grip forces to adjust the grip on the dynamic object. Here, we demonstrate that the proposed controller can maintain smooth and stable grip tightening and relaxing when the object undergoes random impedance variations, compared with a reactive controller that involves a similar number of controller parameters.
Publication Date: 18-May-2016
Date of Acceptance: 24-Mar-2016
URI: http://hdl.handle.net/10044/1/50340
DOI: https://dx.doi.org/10.1109/TRO.2016.2549545
ISSN: 1552-3098
Start Page: 626
End Page: 637
Journal / Book Title: IEEE Transactions on Robotics
Volume: 32
Issue: 3
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: 0801 Artificial Intelligence And Image Processing
0906 Electrical And Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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