Robust object manipulation for tactile-based blind grasping
Wenceslao Shaw-Cortez, Denny Oetomo, Chris Manzie, Peter Choong
Control Engineering Practice | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2019
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight, inertia, and shape. There exists no manipulation controller that rigorously guarantees object manipulation in such a setting. Here, a robust control law is proposed for object manipulation in tactile-based blind grasping. The analysis ensures semi-global asymptotic and exponential stability in the presence of model uncertainties and external disturbances that are neglected in related work. Simulation and hardware results validate the effectiveness of the propose..View full abstract
This work is supported by the Valma Angliss Trust, Australia.