Keywords

simulated model-free haptics-based robotic grasping

Abstract

This work is focused on extending and demonstrating the generalizability of previous interactive perception-based work done on a model-free, non-neural algorithm for robotic gripper envelopment of objects using haptic feedback. Using a 6-axis force and torque sensor placed behind the wrist of a robotic arm's manipulator, appropriate motions are generated in order to achieve contact with, align the manipulator with, and place the manipulator around some desired object in a position where grasp is possible by simply closing the manipulator. The algorithm relies on generating restoring (reactive) and frictional forces by rapid multidirectional oscillation of gripper fingers about an initial contact point on the object, then adjusting the pose based on moving averages of the resultant forces. By implementing the algorithm in a simulated environment, it is possible to modify object and robot motion models with relative ease, which results in several improvements such as reduced movement, a steady contact point, and last but not least, faster convergence.

Completion Date

2025

Semester

Fall

Committee Chair

Behal, Aman

Degree

Master of Science in Computer Engineering (M.S.Cp.E.)

College

College of Engineering and Computer Science

Department

Department of Electrical and Computer Engineering

Format

PDF

Identifier

DP0029791

Document Type

Thesis

Campus Location

Orlando (Main) Campus

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