Work

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

Year: 2023

Type: article

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.

Source: Journal of Mechanisms and Robotics

DOI: 10.1115/1.4062273

Authors: Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian

Institutions: Johns Hopkins University, National University of Singapore

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Research Foundation, National Research Foundation Singapore, Ministry of Education, India

Award: G6549065091