Detecting and Controlling Slip through Estimation and Control of the Sliding Velocity

Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp manipulate objects common use can be greatly enhanced by endowing these with force/tactile sensors on their fingertips. Object slipping caused both tangential torsional loads when the grip force is too low. Contact moment measurements required counteract such avoid slippage controlling force. In this paper, we SUNTouch sensor, which provides control system reliable normal contact components together moment. By exploiting limit surface concept LuGre friction model, build a model object/fingertip planar sliding. This basis nonlinear observer that estimates sliding velocity state variable from measured uses estimated detect event modality twofold: first one aimed at avoiding object slip, while second allows perform controlled pivoting about grasping axis. Experiments show robot able safely require forces large range, 0.2 N 10 N. level manipulation autonomy attained suitably identified dynamic overcomes limited generalization existing learning-based approaches general roto-translational slip control.