Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection
Tetsuya Narita,Satoko Nagakari,William Conus,Toshimitsu Tsuboi,Kenichiro Nagasaka,Tetsuya Narita,Satoko Nagakari,William Conus,Toshimitsu Tsuboi,Kenichiro Nagasaka
Manipulating objects whose physical properties are unknown remains one of the greatest challenges in robotics. Controlling grasp force is an essential aspect of handling unknown objects without slipping or crushing them. Although extensive research has been carried out on grasp force control, unknown object manipulation is still difficult because conventional approaches assume that object properti...
