TY - GEN
T1 - Sensing and Control of Friction Mode for Contact Area Variable Surfaces (Friction-variable Surface Structure)
AU - Nojiri, Seita
AU - Yamaguchi, Akihiko
AU - Suzuki, Yosuke
AU - Tsuji, Tokuo
AU - Watanabe, Tetsuyou
N1 - Funding Information:
*Research supported by JSPS KAKENHI Grant Numbers 18K19809 and 18K18831 and the Cabinet Office (CAO), Cross-ministerial Strategic Innovation Promotion Program (SIP), “An intelligent knowledge processing infrastructure, integrating physical and virtual domains” (funding agency: New Energy and Industrial Technology Development Organization (NEDO)).
PY - 2020/5
Y1 - 2020/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85088092490&partnerID=8YFLogxK
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U2 - 10.1109/RoboSoft48309.2020.9116019
DO - 10.1109/RoboSoft48309.2020.9116019
M3 - Conference contribution
AN - SCOPUS:85088092490
T3 - 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
SP - 215
EP - 222
BT - 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
Y2 - 15 May 2020 through 15 July 2020
ER -