Tactile-based Manipulation of Deformable Objects with Dynamic Center of Mass

Mohsen Kaboli , Kunpeng Yao (1) , Gordon Cheng (2)

1 Lab-STICC_UBO_CACS_COM
2 Xi’an Institute of Optics and Precision Mechanics

Tactile sensing feedback provides feasible solutions to robotic dexterous manipulation tasks. In this paper, we present a novel tactile-based framework for detecting/correcting slips and regulating grasping forces while manipulating de-formable objects with the dynamic center of mass. This framework consists of a tangential force based slip detection method and a deformation prevention approach relying on weight estimation. Moreover, we propose a new strategy for manipulating deformable heavy objects. Objects with different stiffnesses, surface textures, and centers of mass are tested in experiments. Results show that proposed approaches are capable of handling objects with uncertainties in their characteristics, and also robust to external disturbances.

Domaines: Robotique [cs.RO]

Mohsen Kaboli, Kunpeng Yao, Gordon Cheng. Tactile-based Manipulation of Deformable Objects with Dynamic Center of Mass. IEEE-RAS International Conference on Humanoid Robots, IEEE, Nov 2016, Cancun, Mexico. ⟨hal-01385118⟩