7 accepted papers
This letter proposes a control framework for dual-arm robotic manipulation of a common workpiece, with the objective of tracking a reference trajectory for the object while minimizing the internal stress on it using pose/force controllers. The visual-tactile observations provided by the individual r
Visual control based on image features has received much attention for its inherent robustness against camera calibration errors, modelling uncertainties and the capability to keep the object in the Field of View (FoV) of the camera. Nevertheless, some drawbacks related to the basin of convergence a
The main purpose of this letter is to demonstrate that smart exploitation of force/tactile feedback can enable successful physical cooperation of two robot manipulators to handle a common object with a high degree of dexterity. The novelty of the letter is that dexterity is provided not only by the
A robust grasp controller for both slipping avoidance and controlled sliding is proposed based on force/tactile feedback only. The model-based algorithm exploits a modified LuGre friction model to consider rotational frictional sliding motions. The modification relies on the Limit Surface concept wh…
Parallel jaw grippers have a limited dexterity, however they can still be used for in-hand manipulation tasks, such as pivoting or other controlled sliding motions of the grasped object. A rotational sliding maneuver is challenging since the grasped object can easily slip if the grip force is not pr…
In-hand manipulation is certainly one of the most challenging problems in robotic manipulation. Solutions to this problem depend on the specific device used to grab the object, but nowadays, the trend is to exploit not only the gripper but also external constraints, such as other objects in the envi…
This paper proposes an experimental study of slipping avoidance algorithms based on force/tactile perception data. The claim is that contact force measurements alone or tactile data alone are not sufficient for an effective slipping avoidance strategy in real world conditions. Integrated force/tacti…