标题：Center of mass and friction coefficient exploration of unknown object for a robotic grasping manipulation
作者：Zhao, Zhongqiu ;Li, Xueyong ;Lu, Changhou ;Wang, Yonghui
作者机构：[Zhao, Zhongqiu ;Li, Xueyong ;Lu, Changhou ] Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineeri 更多
会议名称：15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
会议日期：5 August 2018 through 8 August 2018
来源：Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
关键词：Center of mass; Friction coefficient; Object grasping; Unknown object
摘要：Center of mass (CoM) and friction coefficient () are essential parameters in autonomous robotic manipulation system. However, it is difficult to measure these parameters. CoM is one of the internal properties, which depends on shape and mass distribution of the object. The parameter depends on the contact area between the object and robot finger. This paper provides an efficient method to calculate CoM and through three grasping manipulations. In the proposed method, a load cell is used to measure the gravity of the object, the omnidirectional slip sensor can obtain the object's rotation angle during the grasping manipulation, the robot can measure the grasping force. The method is applicable to unknown objects with irregular shape and uniformly-distributed mass. Besides, no prior knowledge of the object is needed. Experiments show that this method can accurately obtain position of CoM and the error is acceptable. The calculation of is more sensitive to error, but it still has significant values on object grasping manipulations. © 2018 IEEE.