In-Hand Manipulation Using Gravity and Controlled Slip
Paper i proceeding, 2015

In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.


Francisco Eli Viña Barrientos

Kungliga Tekniska Högskolan (KTH)

Yiannis Karayiannidis

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

K. Pauwels

Kungliga Tekniska Högskolan (KTH)

C. Smith

Kungliga Tekniska Högskolan (KTH)

D. Kragic

Kungliga Tekniska Högskolan (KTH)

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0866 (eISSN)

Vol. 2015-December 5636-5641


Robotteknik och automation