An Adaptive Control-Based Approach for 1-Click Gripping of Novel Objects Using a Robotic Manipulator

摘要

This brief presents the design, analysis, and experimental implementation, an adaptive control enabled intelligent algorithm to facilitate 1-click grasping of novel objects by a robotic gripper. The use of object-geometry free modeling coupled with utilization of interaction force and slip velocity measurements allows for the design of an adaptive backstepping controller that is shown to be asymptotically stable via a Lyapunov-based analysis. Experiments with multiple objects using a prototype gripper with embedded sensing show that the proposed scheme is able to effectively immobilize novel objects within the gripper fingers. Furthermore, it is seen that the adaptation allows for close estimation of the minimum grasp force required for safe grasping, which results in minimal deformation of the grasped object.