Adaptive Grasping of Moving Objects through Tactile Sensing.

ABSTRACT: A robot's ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object in motion. It was hypothesised that combining tactile sensor data with a reactive grasping strategy could improve its robustness to prediction errors, leading to a better, more adaptive performance. Using a two-finger gripper, we evaluated the performance of two algorithms to grasp a ball rolling on a horizontal plane at a range of speeds and gripper contact points. The first approach involved an adaptive grasping strategy initiated by tactile sensors in the fingers. The second strategy initiated the grasp based on a prediction of the positi

SUBMITTER: Lynch P 

PROVIDER: S-EPMC8705289 | biostudies-literature | 2021 Dec

REPOSITORIES: biostudies-literature