Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Lach LM, Lemaignan S, Ferro F, Ritter H, Haschke R (2022)
In: Proceedings IROS.

Konferenzbeitrag | Englisch
 
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Lach, Luca MichaelUniBi; Lemaignan, Séverin; Ferro, Francesco; Ritter, HelgeUniBi; Haschke, RobertUniBi
Abstract / Bemerkung
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displace- ment during grasping is minimized by pausing the finger closing motion for individual joints on first contact until force- closure is established. While holding an object, the controller is compliant with external forces to avoid high internal object forces and prevent object damage. Gravity as an external force is explicitly considered and compensated for, thus preventing gravity-induced object drift. We evaluate the controller in two experiments on the TIAGo robot and its parallel-jaw gripper proving the effectiveness of the approach for robust grasping and minimizing object displacement. In a series of ablation studies, we demonstrate the utility of the individual controller components.
Erscheinungsjahr
2022
Titel des Konferenzbandes
Proceedings IROS
Konferenz
International Conference on Intelligent Robots and Systems
Konferenzort
Kyoto
Konferenzdatum
2022-10-23 – 2022-10-27
Page URI
https://pub.uni-bielefeld.de/record/2964379

Zitieren

Lach LM, Lemaignan S, Ferro F, Ritter H, Haschke R. Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. In: Proceedings IROS. 2022.
Lach, L. M., Lemaignan, S., Ferro, F., Ritter, H., & Haschke, R. (2022). Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. Proceedings IROS
Lach, L. M., Lemaignan, S., Ferro, F., Ritter, H., and Haschke, R. (2022). “Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers” in Proceedings IROS.
Lach, L.M., et al., 2022. Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. In Proceedings IROS.
L.M. Lach, et al., “Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers”, Proceedings IROS, 2022.
Lach, L.M., Lemaignan, S., Ferro, F., Ritter, H., Haschke, R.: Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. Proceedings IROS. (2022).
Lach, Luca Michael, Lemaignan, Séverin, Ferro, Francesco, Ritter, Helge, and Haschke, Robert. “Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers”. Proceedings IROS. 2022.
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2022-07-11T11:54:16Z
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