Abstract—A robotics grasp force setpoint determination policy based on coupling the load force (at the robot's wrist) to the desired grasp force (at the contact points) is presented. The policy can handle, online, changing load forces, and is able to assist in the prevention of slip and the safe grasping of objects with unknown mass, rigidity, and friction properties. Experimental results show that the policy is capable of handling unanticipated mass changes in real time with appropriate choice of controller parameters.
—grasp force determination, precision grasping, load-grip coupling
Cite: Michael Stachowsky, Julie Vale, Hussein A. Abdullah, and Medhat Moussa, "A Human-Inspired Real-Time Grasp Force Selection Policy Based on Load-Grip Force Coupling," International Journal of Mechanical Engineering and Robotics Research, Vol.4, No. 4, pp. 336-342, October 2015. DOI: 10.18178/ijmerr.4.4.336-342