Sensing and Control of Friction Mode for Contact Area Variable Surfaces (Friction-variable Surface Structure)

Seita Nojiri, Akihiko Yamaguchi, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a contact area variable surface (CAVS), whose friction changed according to the load. However, only our fundamental results were previously presented, with detailed analyses not provided. In this study, we first investigated the CAVS friction anisotropy, and demonstrated that the longitudinal direction exhibited a larger ratio of friction change. Next, we proposed a 'sensible' CAVS, capable of providing a variable-friction mechanism, and tested its sensing and control systems in operations requiring switching between sliding and stable-grasping modes. Friction sensing was performed using an embedded camera, and we developed a gripper using the sensible CAVS, considering the CAVS friction anisotropy. In CAVS, the low-friction mode corresponds to a small grasping force, while the high-friction mode corresponds to a greater grasping force. Therefore, by controlling only the friction mode, the gripper mode can be set to either the sliding or stable-grasping mode. Based on this feature, a methodology for controlling the contact mode was constructed. We demonstrated a manipulation involving sliding and stable grasping, and thus verified the efficacy of the developed sensible CAVS.

Original languageEnglish
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages215-222
Number of pages8
ISBN (Electronic)9781728165707
DOIs
Publication statusPublished - 2020 May
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: 2020 May 152020 Jul 15

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
CountryUnited States
CityNew Haven
Period20/5/1520/7/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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