Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
<|reference_start|>Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots: This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (CoP). A calibration method is developed to improve the CoP measurement accuracy. A hybrid force-alignment-position control framework is proposed to regulate the gripping forces and to ensure the surface alignment between the grippers and the object. Limit surface theory is incorporated as a contact friction modeling approach to determine the magnitude of gripping forces for slippage avoidance. The integrated hardware and software system is demonstrated with a NAO humanoid robot. Experiments show the effectiveness of the overall approach.<|reference_end|>
@article{han2024design,,
    title={Design, Calibration, and Control of Compliant Force-sensing Gripping
  Pads for Humanoid Robots},
    author={Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian},
    journal={Journal of Mechanisms and Robotics, 15, 031010,2023},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.20969},
    primaryClass={cs.RO cs.SY eess.SY}
}