Home > Published Issues > 2015 > Volume 4, No. 4, October 2015 >

An Object Exploration Strategy for COM and Mass Determination for Robot Grasping

Michael Stachowsky, Hussein A. Abdullah, Medhat Moussa, and Cole Tarry
University of Guelph, Guelph ON, Canada

Abstract—A strategy for object experimentation during robot grasping is presented. Specifically, a method by which object Center of Mass (COM) and mass can be determined using load force/torque sensing is developed. The strategy is tested in simulation and analyzed for robustness to noise and object reconfiguration. Simulation results show that COM can be determined exactly when noise is not present, and to sub-millimeter accuracy with reasonable noise bounds.

Index Terms—object exploration, robot grasping, object property experimentation

Cite: Michael Stachowsky, Hussein A. Abdullah, Medhat Moussa, and Cole Tarry, "An Object Exploration Strategy for COM and Mass Determination for Robot Grasping," International Journal of Mechanical Engineering and Robotics Research, Vol.4, No. 4, pp. 343-348, October 2015. DOI: 10.18178/ijmerr.4.4.343-348

PREVIOUS PAPER
A Human-Inspired Real-Time Grasp Force Selection Policy Based on Load-Grip Force Coupling
NEXT PAPER
Colias-Φ: An Autonomous Micro Robot for Artificial Pheromone Communication