Slip detection with multi-axis force/torque sensor in universal robot hand

Issue title: Selected Papers from the 15th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2011)

Article type: Research Article

Authors: Kobayashi, Futoshi^{a; *} | Kojima, Fumio^b | Nakamoto, Hiroyuki^a | Kida, Yasuaki^c | Imamura, Nobuaki^d | Shirasawa, Hidenori^e

Affiliations: [a] Department of Systems Science, Kobe University, Kobe, Japan | [b] Organization of Advanced Science and Technology, Kobe University, Kobe, Japan | [c] BL AUTOTEC LTD, Kobe, Japan | [d] Hiroshima International University, Kure, Japan | [e] The Advanced Materials Processing Institute Kinki Japan, Amagasaki, Japan

Correspondence: [*] Corresponding author: Futoshi Kobayashi, Department of Systems Science, Kobe University, Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan. Tel.: +81 78 803 6489; E-mail: futoshi.kobayashi@port.kobe-u.ac.jp

Abstract: A humanoid robot hand receives much attention in various fields. We have developed the universal robot hand with the multi-axis force/torque sensors. In order to manipulate an object by the robot hand without dropping the object, it is important to detect a slip between the object and the robot finger. Therefore, we propose a slip detection method with the multi-axis force/torque sensor and an anti-slip control method based on the slip detection. The effectiveness of the proposed slip detection and the anti-slip control is verified through some experiments with the universal robot hand.

Keywords: Slip detection, force/toque sensor, robot hand

DOI: 10.3233/JAE-2012-1577

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 39, no. 1-4, pp. 1047-1054, 2012