A Simple Learning Algorithm for Contact-Rich Robotic Grasping

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Published: Nov 21, 2024
DOI: https://doi.org/10.12693/APhysPolA.146.497
Keywords:
robotic manipulation, contact-rich manipulation, electronic skin, learning algorithm

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M. Przybylski
Faculty of Mechatronics, Institute of Automatic Control and Robotics, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland
J. Klimaszewski
Faculty of Mechatronics, Institute of Automatic Control and Robotics, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland
K. Wildner
Faculty of Mechatronics, Institute of Metrology and Biomedical Engineering, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland

Abstract

This paper presents the preliminary results of the work on a control algorithm for a two-finger gripper equipped with an electronic skin (e-skin). The e-skin measures the magnitude and location of the pressure applied to it. Contact localization allowed the development of a reliable control algorithm for robotic grasping. The main contribution of this work is the learning algorithm that adjusts the pose of the gripper during the pre-grasp approach step based on contact information. The algorithm was tested on different objects and showed comparable grasping reliability to the vision-based approach. The developed tactile sensor-rich gripper with a dedicated control algorithm may find applications in various fields, from industrial robotics to advanced interactive robots.


 

Article Details

How to Cite
[1]
M. Przybylski, J. Klimaszewski, and K. Wildner, “A Simple Learning Algorithm for Contact-Rich Robotic Grasping”, Acta Phys. Pol. A, vol. 146, no. 4, p. 497, Nov. 2024, doi: 10.12693/APhysPolA.146.497.
Issue
Vol. 146 No. 4 (2024): Proceedings of the 21st International Conference on Global Research and Education (Inter-Academia 2024), pp. 317-660
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Special segment
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This work is licensed under a Creative Commons Attribution 4.0 International License.

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