Why is this robot slowly dropping the object?
This is a popular-science presentation, where I explore my PhD research on in-hand sliding manipulation with robotic grippers and tactile sensing. The focus has been on friction modeling and perception with tactile sensing. The simple parallel gripper might not be the first thought when you think about dexterity with robotic grippers. The video is based on my research papers: "Planar friction…
In this popular science piece, the presenter delves into their doctoral research on in-hand sliding manipulation involving robotic grippers and tactile sensing. The primary emphasis lies in the development of friction models and perception techniques through tactile sensing.
Contrary to common assumptions, the humble parallel gripper does not typically spring to mind when considering the dexterity of robotic grippers. The accompanying video showcases the research findings, derived from two key papers.
The first paper, "Planar friction modeling with LuGre dynamics and limit surfaces," was published in IEEE Transactions on Robotics. It can be accessed at arXiv:2308.01123v3. The second paper, "Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers," was published in the International Journal of Robotics Research. This paper is available at arXiv:2410.19660.
Additionally, the presenter discusses their work on "Friction Estimation for In-Hand Planar Motion" presented at ISER 2025, and a deformable in-hand tactile sensor that integrates velocity, force/torque, and pressure mapping sensing, currently under review for publication. While some of the demonstrations in the video have not yet been submitted for publication, the presenter acknowledges comments are welcome.
Written by urgent.news from Lobsters's reporting — not their text. Machine-written — may contain errors; check the original before relying on it.
