Journal article

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

Abstract

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..

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