Adaptive Grasping of Moving Objects through Tactile Sensing

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 position of the object relative to the gripper, and provided a proxy to a vision-based object tracking system. It was found that the integration of tactile sensor feedback resulted in a higher observed grasp robustness, especially when the gripper–ball contact point was displaced from the centre of the gripper. These findings demonstrate the performance gains that can be attained by incorporating near-field sensor data into the grasp strategy and motivate further research on how this strategy might be expanded for use in different manipulator designs and in more complex grasp scenarios.

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A Shape Description Model by Using Sensor Data From Touch

Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C ◽

10.1115/detc2003/vib-48337 ◽

2003 ◽

Cited By ~ 2

Author(s):

Venturia Chiroiu ◽

Ligia Munteanu ◽

Cornel Mihai Nicolescu

Keyword(s):

Sensor Data ◽

Tactile Sensing ◽

Shape Description ◽

Robot Hand ◽

3D Object ◽

Contact Points ◽

Data Points ◽

Dexterous Robot Hand

In this paper we consider the problem of recognizing the shape of a 3D object using tactile sensing by a dexterous robot hand. Our approach uses multiple fingers to slide along the surface of the object. From the sensing contact points we extracts a number of 3D points belonging to the surface of the object. The unknown surface Γ of the object is determined by using an “n-ellipsoid” model (Bonnet [1]). The set of parameters that define the surface Γ is determined such that the n-ellipsoid best fits the set of data points.

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GPS and GSM Based Tracking System for Objects Moving over Wide Geographical Areas

Al-Kitab Journal for Pure Sciences ◽

10.32441/kjps.v2i1.144 ◽

2018 ◽

Vol 2 (1) ◽

Author(s):

Fatima Ameen ◽

Ziad Mohammed ◽

Abdulrahman Siddiq

Keyword(s):

Global Positioning System ◽

Mobile Communications ◽

Moving Objects ◽

Tracking System ◽

Geographical Area ◽

Tracking Systems ◽

Acceptable Result ◽

Internet Service ◽

Global Positioning ◽

Tracking Objects

Tracking systems of moving objects provide a useful means to better control, manage and secure them. Tracking systems are used in different scales of applications such as indoors, outdoors and even used to track vehicles, ships and air planes moving over the globe. This paper presents the design and implementation of a system for tracking objects moving over a wide geographical area. The system depends on the Global Positioning System (GPS) and Global System for Mobile Communications (GSM) technologies without requiring the Internet service. The implemented system uses the freely available GPS service to determine the position of the moving objects. The tests of the implemented system in different regions and conditions show that the maximum uncertainty in the obtained positions is a circle with radius of about 16 m, which is an acceptable result for tracking the movement of objects in wide and open environments.

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Slipping–rolling transitions of a body with two contact points

Nonlinear Dynamics ◽

10.1007/s11071-021-06538-5 ◽

2021 ◽

Author(s):

Mate Antali ◽

Gabor Stepan

Keyword(s):

Rigid Body ◽

Contact Point ◽

Static Friction ◽

Rigid Body Dynamics ◽

Contact Forces ◽

Friction Forces ◽

Contact Points ◽

Body Dynamics ◽

Coulomb Model ◽

Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

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Cavitation between cylinder-liner and piston-ring in a new designed optical IC engine

International Journal of Engine Research ◽

10.1177/14680874211008007 ◽

2021 ◽

pp. 146808742110080

Author(s):

Jamshid Malekmohammadi Nouri ◽

Ioannis Vasilakos ◽

Youyou Yan

Keyword(s):

High Speed ◽

Contact Point ◽

Cylinder Liner ◽

Optical Methods ◽

Engine Management System ◽

Great Success ◽

Ic Engine ◽

Contact Points ◽

Lubricant Flow ◽

Cavitation Intensity

A new engine block with optical access has been designed and manufactured capable of running up to 3000 r/min with the same specification as the unmodified engine. The optical window allowed access to the full length of the liner over a width of 25 mm to investigate the lubricant flow and cavitation at contact point between the rings and cylinder-liner. In addition, it allowed good access into the combustion chamber to allow charged flow, spray and combustion visualisation and measurements using different optical methods. New custom engine management system with build in LabView allowed for the precise full control of the engine. The design of the new optical engine was a great success in producing high quality images of lubricant flow, cavitation formation and development at contact point at different engine speeds ranging from 208 to 3000 r/min and lubricant temperatures (30°C–70°C) using a high-speed camera. The results under motorised operation confirmed that there was no cavitation at contact points during the intake/exhaust strokes due to low in-cylinder presure, while during compression/expansion strokes, with high in-cylinder pressure, considerable cavities were observed, in particular, during the compression stroke. Lubricant temperatures had the effect of promoting cavities both in their intensity and covered ring area up to 50°C as expected. Beyond that, although the cavitation intensity increases further with temperature, its area reduces due to possible collapse of the cavitating bubbles at higher temperature. The change of engine speed from 208 to 800 r/min increased cavitating area considerably by 52% of the ring area and was further increased by 19% at 1000 r/min. After that, the results showed very small increase in cavitation area (1.3% at 2000 r/min) with similar intensity and distribution across the ring.

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The macroscopic shape of assemblies formed from microparticles based on host–guest interaction dependent on the guest content

Scientific Reports ◽

10.1038/s41598-021-85816-z ◽

2021 ◽

Vol 11 (1) ◽

Author(s):

Takahiro Itami ◽

Akihito Hashidzume ◽

Yuri Kamon ◽

Hiroyasu Yamaguchi ◽

Akira Harada

Keyword(s):

Molecular Recognition ◽

Smart Materials ◽

Self Assembly ◽

Early Stage ◽

Contact Point ◽

Sodium Acrylate ◽

Contact Points ◽

Assembly Behavior ◽

Small Clusters ◽

Macroscopic Shape

AbstractBiological macroscopic assemblies have inspired researchers to utilize molecular recognition to develop smart materials in these decades. Recently, macroscopic self-assemblies based on molecular recognition have been realized using millimeter-scale hydrogel pieces possessing molecular recognition moieties. During the study on macroscopic self-assembly based on molecular recognition, we noticed that the shape of assemblies might be dependent on the host–guest pair. In this study, we were thus motivated to study the macroscopic shape of assemblies formed through host–guest interaction. We modified crosslinked poly(sodium acrylate) microparticles, i.e., superabsorbent polymer (SAP) microparticles, with β-cyclodextrin (βCD) and adamantyl (Ad) residues (βCD(x)-SAP and Ad(y)-SAP microparticles, respectively, where x and y denote the mol% contents of βCD and Ad residues). Then, we studied the self-assembly behavior of βCD(x)-SAP and Ad(y)-SAP microparticles through the complexation of βCD with Ad residues. There was a threshold of the βCD content in βCD(x)-SAP microparticles for assembly formation between x = 22.3 and 26.7. On the other hand, the shape of assemblies was dependent on the Ad content, y; More elongated assemblies were formed at a higher y. This may be because, at a higher y, small clusters formed in an early stage can stick together even upon collisions at a single contact point to form elongated aggregates, whereas, at a smaller y, small clusters stick together only upon collisions at multiple contact points to give rather circular assemblies. On the basis of these observations, the shape of assembly formed from microparticles can be controlled by varying y.

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Sensor data fusion using fuzzy control for VOR-based vision tracking system

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2010.5649916 ◽

2010 ◽

Cited By ~ 2

Author(s):

Hyun-il Kwon ◽

Jaehong Park ◽

Wonsang Hwang ◽

Jong-hyeon Kim ◽

Chang-hun Lee ◽

...

Keyword(s):

Fuzzy Control ◽

Data Fusion ◽

Tracking System ◽

Sensor Data ◽

Sensor Data Fusion

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STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

International Journal of Information Acquisition ◽

10.1142/s0219878911002458 ◽

2011 ◽

Vol 08 (03) ◽

pp. 181-195

Author(s):

ZHAOXIAN XIE ◽

HISASHI YAMAGUCHI ◽

MASAHITO TSUKANO ◽

AIGUO MING ◽

MAKOTO SHIMOJO

Keyword(s):

Fuzzy Logic ◽

Feedback Control ◽

Experimental Verification ◽

High Speed ◽

Center Of Pressure ◽

Tactile Sensor ◽

Mobile Manipulator ◽

Tactile Sensing ◽

Robot Arm ◽

Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

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Dynamic world modeling for a mobile robot among moving objects

Robotica ◽

10.1017/s0263574700020038 ◽

1996 ◽

Vol 14 (5) ◽

pp. 553-560

Author(s):

Yuefeng Zhang ◽

Robert E. Webber

Keyword(s):

Mobile Robot ◽

Hough Transform ◽

Moving Objects ◽

Grid Method ◽

Experimental Results ◽

Sensor Data ◽

Probabilistic Estimation ◽

Occupancy Grid ◽

World Modeling ◽

Grid Based

SUMMARYA grid-based method for detecting moving objects is presented. This method involves the extension and combination of two methods: (1) the Hough Transform and (2) the Occupancy Grid method. The Occupancy Grid method forms the basis for a probabilistic estimation of the location and velocity of objects in the scene from the sensor data. The Hough Transform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental results show that this method can handle objects moving at non-integer velocities.

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Representation and tactile sensing of 3-D objects by a gripper finger

Robotica ◽

10.1017/s0263574700002149 ◽

1983 ◽

Vol 1 (4) ◽

pp. 217-222 ◽

Cited By ~ 6

Author(s):

Gen-Ichiro Kinoshita

Keyword(s):

Tactile Sensor ◽

Large Displacement ◽

Tactile Sensing ◽

Sensor Element ◽

Maximum Displacement

SUMMARYThe tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

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