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Stable Grip Control on Soft Objects With Time Varying Stiffness

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Published on Mar 24, 2016

This video shows how a new method we developed can hold a soft object with time-varying stiffness. The new controller uses just 3-parameters like in a PID controller, but tuning them is very easy. One parameter sets the probability of failure that is deemed to be safe. The user can set this depending on the application. The second parameter sets the size of grip correction to be performed at each sampling step. So, the user can set a relatively small value if a slow response is desirable. The third parameter determines the critical friction force needed to keep the grip on the object. This parameter can be learned after several micro-slippages or the user can compute it if the friction model is known. The details can be found in the paper "Thrishantha Nanayakkara, Allen Jiang, María. R. Armas Fernández, Hongbin Liu, Kaspar Althoefer, Joao Bimbo, “Stable Grip Control on Soft Objects With Time-Varying Stiffness”, IEEE Transactions on Robotics, vol. 32, no. 3, pp. 626-637, 2016."

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