Adaptive control for pivoting with visual and tactile feedback
Adaptive control for pivoting with visual and tactile feedback
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DOI：
10.1109/icra.2016.7487159
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发表时间：
2016-05
期刊：
影响因子：
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通讯作者：
Francisco E. Vina;Y. Karayiannidis;Christian Smith;D. Kragic
中科院分区：
文献类型：
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作者：
Francisco E. Vina;Y. Karayiannidis;Christian Smith;D. Kragic
在这项工作中，我们提出了一种用于旋转的自适应控制方法，这是一种手持操作机动，包括将抓取的物体旋转到相对于机器人手的期望方向。我们通过重力进行旋转，使物体在一个自由度的夹持器的手指之间旋转，并控制夹持力，以确保物体遵循参考轨迹并到达所需的角度位置。我们使用一个视觉姿态估计系统来跟踪物体的姿态和来自触觉传感器的力测量来控制夹持力。自适应控制器采用了一种适应摩擦系数误差的更新律，这是操纵中最常见的不确定性来源之一。我们的实验证实了所提出的自适应控制器在物体摩擦参数存在不确定性的情况下成功地实现了抓取物体的轴转。
In this work we present an adaptive control approach for pivoting, which is an in-hand manipulation maneuver that consists of rotating a grasped object to a desired orientation relative to the robot's hand. We perform pivoting by means of gravity, allowing the object to rotate between the fingers of a one degree of freedom gripper and controlling the gripping force to ensure that the object follows a reference trajectory and arrives at the desired angular position. We use a visual pose estimation system to track the pose of the object and force measurements from tactile sensors to control the gripping force. The adaptive controller employs an update law that accommodates for errors in the friction coefficient, which is one of the most common sources of uncertainty in manipulation. Our experiments confirm that the proposed adaptive controller successfully pivots a grasped object in the presence of uncertainty in the object's friction parameters.