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Stable Grip Control on Soft Objects With Time Varying Stiffness

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Stable Grip Control on Soft Objects With Time Varying Stiffness. / Nanayakkara, Thrishantha; Jiang, Allen; Fernandez, Maria R. Armas ; Liu, Hongbin; Althoefer, Kaspar Alexander; Bimbo, Joao Maria.

In: IEEE TRANSACTIONS ON ROBOTICS, Vol. 32, No. 3, 7471513, 18.05.2016, p. 626-637.

Research output: Contribution to journalArticle

Harvard

Nanayakkara, T, Jiang, A, Fernandez, MRA, Liu, H, Althoefer, KA & Bimbo, JM 2016, 'Stable Grip Control on Soft Objects With Time Varying Stiffness', IEEE TRANSACTIONS ON ROBOTICS, vol. 32, no. 3, 7471513, pp. 626-637. https://doi.org/10.1109/TRO.2016.2549545

APA

Nanayakkara, T., Jiang, A., Fernandez, M. R. A., Liu, H., Althoefer, K. A., & Bimbo, J. M. (2016). Stable Grip Control on Soft Objects With Time Varying Stiffness. IEEE TRANSACTIONS ON ROBOTICS, 32(3), 626-637. [7471513]. https://doi.org/10.1109/TRO.2016.2549545

Vancouver

Nanayakkara T, Jiang A, Fernandez MRA, Liu H, Althoefer KA, Bimbo JM. Stable Grip Control on Soft Objects With Time Varying Stiffness. IEEE TRANSACTIONS ON ROBOTICS. 2016 May 18;32(3):626-637. 7471513. https://doi.org/10.1109/TRO.2016.2549545

Author

Nanayakkara, Thrishantha ; Jiang, Allen ; Fernandez, Maria R. Armas ; Liu, Hongbin ; Althoefer, Kaspar Alexander ; Bimbo, Joao Maria. / Stable Grip Control on Soft Objects With Time Varying Stiffness. In: IEEE TRANSACTIONS ON ROBOTICS. 2016 ; Vol. 32, No. 3. pp. 626-637.

Bibtex Download

@article{34d08fa5111043e1845b83779b6efa9e,
title = "Stable Grip Control on Soft Objects With Time Varying Stiffness",
abstract = "Humans can hold a live animal like a hamster without overly squeezing despite the fact that its soft body undergoes impedance and size variations due to breathing and wiggling. Though the exact nature of such biological motor controllers is not known, existing literature suggests that they maintain metastable interactions with dynamic objects based on prediction rather than reaction. Most robotic gripper controllers find such tasks very challenging mainly due to hard constraints imposed on stability of closed loop control and inadequate rate of convergence of adaptive controller parameters. This paper presents experimental and numerical simulation results of a control law based on a relaxed stability criterion of reducing the probability of failure to maintain a stable grip on a soft object that undergoes temporal variations in its internal impedance. The proposed controller uses only three parameters to interpret the probability of failure estimated using a history of grip forces to adjust the grip on the dynamic object. Here we demonstrate that the proposed controller can maintain smooth and stable grip tightening and relaxing when the object undergoes random impedance variations, compared to a reactive controller that involves a similar number of controller parameters. ",
keywords = "grasping, UNCERTAINTY, Robotics, grip control, probabilistic control",
author = "Thrishantha Nanayakkara and Allen Jiang and Fernandez, {Maria R. Armas} and Hongbin Liu and Althoefer, {Kaspar Alexander} and Bimbo, {Joao Maria}",
year = "2016",
month = may,
day = "18",
doi = "10.1109/TRO.2016.2549545",
language = "English",
volume = "32",
pages = "626--637",
journal = "IEEE TRANSACTIONS ON ROBOTICS",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Stable Grip Control on Soft Objects With Time Varying Stiffness

AU - Nanayakkara, Thrishantha

AU - Jiang, Allen

AU - Fernandez, Maria R. Armas

AU - Liu, Hongbin

AU - Althoefer, Kaspar Alexander

AU - Bimbo, Joao Maria

PY - 2016/5/18

Y1 - 2016/5/18

N2 - Humans can hold a live animal like a hamster without overly squeezing despite the fact that its soft body undergoes impedance and size variations due to breathing and wiggling. Though the exact nature of such biological motor controllers is not known, existing literature suggests that they maintain metastable interactions with dynamic objects based on prediction rather than reaction. Most robotic gripper controllers find such tasks very challenging mainly due to hard constraints imposed on stability of closed loop control and inadequate rate of convergence of adaptive controller parameters. This paper presents experimental and numerical simulation results of a control law based on a relaxed stability criterion of reducing the probability of failure to maintain a stable grip on a soft object that undergoes temporal variations in its internal impedance. The proposed controller uses only three parameters to interpret the probability of failure estimated using a history of grip forces to adjust the grip on the dynamic object. Here we demonstrate that the proposed controller can maintain smooth and stable grip tightening and relaxing when the object undergoes random impedance variations, compared to a reactive controller that involves a similar number of controller parameters.

AB - Humans can hold a live animal like a hamster without overly squeezing despite the fact that its soft body undergoes impedance and size variations due to breathing and wiggling. Though the exact nature of such biological motor controllers is not known, existing literature suggests that they maintain metastable interactions with dynamic objects based on prediction rather than reaction. Most robotic gripper controllers find such tasks very challenging mainly due to hard constraints imposed on stability of closed loop control and inadequate rate of convergence of adaptive controller parameters. This paper presents experimental and numerical simulation results of a control law based on a relaxed stability criterion of reducing the probability of failure to maintain a stable grip on a soft object that undergoes temporal variations in its internal impedance. The proposed controller uses only three parameters to interpret the probability of failure estimated using a history of grip forces to adjust the grip on the dynamic object. Here we demonstrate that the proposed controller can maintain smooth and stable grip tightening and relaxing when the object undergoes random impedance variations, compared to a reactive controller that involves a similar number of controller parameters.

KW - grasping

KW - UNCERTAINTY

KW - Robotics

KW - grip control

KW - probabilistic control

U2 - 10.1109/TRO.2016.2549545

DO - 10.1109/TRO.2016.2549545

M3 - Article

VL - 32

SP - 626

EP - 637

JO - IEEE TRANSACTIONS ON ROBOTICS

JF - IEEE TRANSACTIONS ON ROBOTICS

SN - 1552-3098

IS - 3

M1 - 7471513

ER -

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