Grasping Force Control in consideration of Translational and Rotational Slippage by a Flexible Sensor

This paper addresses the issue of translational and rotational slippage that occurs when a robot hand grasps an object. To grasp an object against each directional slippage is an important task. In this study, to deal with rotational slippage, a contact area between a flexible contact sensor which is mounted on the robot hand and the object is considered. A sufficient condition for grasping an object against translational and rotational slippage is derived on condition that no additional sensors, such as tactile sensors, are required. An effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted