IEEE - Institute of Electrical and Electronics Engineers, Inc. - Enhancing a robot gripper with haptic perception for risk mitigation in physical human robot interaction

2019 IEEE World Haptics Conference (WHC)

Author(s): Christoph Hellmann ; Aulon Bajrami ; Werner Kraus
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Conference Location: Tokyo, Japan, Japan
Conference Date: 9 July 2019
Page(s): 253 - 258
ISBN (Electronic): 978-1-5386-9461-9
DOI: 10.1109/WHC.2019.8816109
Regular:

Utilising a two finger robot gripper in physical human robot interaction bears the risk of clamping fingers in the gripper. In this paper, we formulate a new grasp strategy which aborts grasps if... View More

Advertisement