Gripping an object based on inspection of slip events for a robotic hand model
An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study in...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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American Scientific Publishers
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/61985/ http://psasir.upm.edu.my/id/eprint/61985/1/Gripping%20an%20object%20based%20on%20inspection%20of%20slip%20events%20for%20a%20robotic%20hand%20model.pdf |
| _version_ | 1848854532086300672 |
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| author | Al-Shanoon, Abdulrahman Abdulkareem Sattoori Ahmad, Siti Anom Hassan, Mohd Khair |
| author_facet | Al-Shanoon, Abdulrahman Abdulkareem Sattoori Ahmad, Siti Anom Hassan, Mohd Khair |
| author_sort | Al-Shanoon, Abdulrahman Abdulkareem Sattoori |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study investigated robotic re-gripping operations based on slip event indication. Tactile pressure sensors are utilized to discover the physical interaction between robotic claws and a particular object during the gripping operation. Slip signal detection is executed by implementing a rotary encoder device that was provided in a robotic hand model. The robotic system has attempted to accomplish the re-gripping mission autonomously. Therefore, an automatic feedback control algorithm is developed to perform re-gripping tasks based on the distance at which an object has slipped. Experimental findings present the correlation between the required forces for an object to re-grip securely and the distance at which an object has slipped. This approach was demonstrated as Hooke’s law. |
| first_indexed | 2025-11-15T11:11:21Z |
| format | Article |
| id | upm-61985 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T11:11:21Z |
| publishDate | 2017 |
| publisher | American Scientific Publishers |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-619852019-03-12T08:48:12Z http://psasir.upm.edu.my/id/eprint/61985/ Gripping an object based on inspection of slip events for a robotic hand model Al-Shanoon, Abdulrahman Abdulkareem Sattoori Ahmad, Siti Anom Hassan, Mohd Khair An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study investigated robotic re-gripping operations based on slip event indication. Tactile pressure sensors are utilized to discover the physical interaction between robotic claws and a particular object during the gripping operation. Slip signal detection is executed by implementing a rotary encoder device that was provided in a robotic hand model. The robotic system has attempted to accomplish the re-gripping mission autonomously. Therefore, an automatic feedback control algorithm is developed to perform re-gripping tasks based on the distance at which an object has slipped. Experimental findings present the correlation between the required forces for an object to re-grip securely and the distance at which an object has slipped. This approach was demonstrated as Hooke’s law. American Scientific Publishers 2017 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/61985/1/Gripping%20an%20object%20based%20on%20inspection%20of%20slip%20events%20for%20a%20robotic%20hand%20model.pdf Al-Shanoon, Abdulrahman Abdulkareem Sattoori and Ahmad, Siti Anom and Hassan, Mohd Khair (2017) Gripping an object based on inspection of slip events for a robotic hand model. Advanced Science Letters, 23 (6). 5133 - 5137. ISSN 1936-6612; ESSN: 1936-7317 https://www.ingentaconnect.com/contentone/asp/asl/2017/00000023/00000006/art00027 10.1166/asl.2017.7326 |
| spellingShingle | Al-Shanoon, Abdulrahman Abdulkareem Sattoori Ahmad, Siti Anom Hassan, Mohd Khair Gripping an object based on inspection of slip events for a robotic hand model |
| title | Gripping an object based on inspection of slip events for a robotic hand model |
| title_full | Gripping an object based on inspection of slip events for a robotic hand model |
| title_fullStr | Gripping an object based on inspection of slip events for a robotic hand model |
| title_full_unstemmed | Gripping an object based on inspection of slip events for a robotic hand model |
| title_short | Gripping an object based on inspection of slip events for a robotic hand model |
| title_sort | gripping an object based on inspection of slip events for a robotic hand model |
| url | http://psasir.upm.edu.my/id/eprint/61985/ http://psasir.upm.edu.my/id/eprint/61985/ http://psasir.upm.edu.my/id/eprint/61985/ http://psasir.upm.edu.my/id/eprint/61985/1/Gripping%20an%20object%20based%20on%20inspection%20of%20slip%20events%20for%20a%20robotic%20hand%20model.pdf |