In-hand manipulation using gravity and controlled slip
Francisco E. Viña B., Yiannis Karayiannidis, Karl Pauwels, Christian Smith, Danica Kragic
Abstract
In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.
BibTeX
@inproceedings{iros2015_inhandmanipulati,
title = {In-hand manipulation using gravity and controlled slip},
author = {Francisco E. Viña B. and Yiannis Karayiannidis and Karl Pauwels and Christian Smith and Danica Kragic},
booktitle = {IROS 2015},
year = {2015}
}