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Object slippage prevention using different control strategies

Dzitac, Pavel, Mazid, Abdul, Littlefair, Guy and Polishetty, Ashwin 2016, Object slippage prevention using different control strategies, in ICINCO 2016 : Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, IEEE, Piscataway, N. J., pp. 559-566.

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Title Object slippage prevention using different control strategies
Author(s) Dzitac, Pavel
Mazid, Abdul
Littlefair, Guy
Polishetty, Ashwin
Conference name Informatics in Control, Automation and Robotics. Conference (2016 : Lisbon, Portugal)
Conference location Lisbon, Portugal
Conference dates 29-31 July. 2016
Title of proceedings ICINCO 2016 : Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics
Publication date 2016
Start page 559
End page 566
Total pages 8
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) Robotic Grasping
Slippage Sensing
Slippage Prevention
Incipient Slippage
Grasp Force Estimation
Grasp Force Control
Summary This paper presents experimental results obtained using a friction-based slippage and tangential force sensing device that has been developed for the purpose of reliable object slippage prevention during robotic manipulation. The experimental results obtained demonstrate that the developed slippage sensing strategy is rugged and reliable even in its current “rough prototype” state of development. This work has the potential to yield a low cost and highly customisable slippage and tangential force sensing device for a variety of robotic object grasping and manipulation applications. It is envisaged that the work presented here will be beneficial to researchers in the area of object slippage prevention.
ISBN 9789897581984
Language eng
Field of Research 091006 Manufacturing Processes and Technologies (excl Textiles)
091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
091302 Automation and Control Engineering
Socio Economic Objective 861403 Industrial Machinery and Equipment
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2016, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30086130

Document type: Conference Paper
Collection: School of Engineering
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