Browsing by Author "Thakor N.V."
Now showing items 1-3 of 3
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A Bio-Inspired Slip Detection and Reflex-Like Suppression Method for Robotic Manipulators
Nakagawa-Silva A.; Thakor N.V.; Cabibihan J.-J.; Soares A.B. ( Institute of Electrical and Electronics Engineers Inc. , 2019 , Article)Robotic manipulators face significant challenges when handling objects of different sizes and shapes. Incorporating a sense of touch into these devices has the potential to improve performance and dexterity. In this paper, ... -
Pareto-front analysis of a monotonie PI control law for slip suppression in a robotic manipulator
Prach A.; Cabibihan J.-J.; Thakor N.V.; Bernstein D.S. ( Institute of Electrical and Electronics Engineers Inc. , 2018 , Conference Paper)This paper presents a novel slip-suppression controller for a two-fingered robotic manipulator, where the goal is to minimize the slip distance without using excessive force. To do this, we consider monotonic PI (MPI) ... -
Slip suppression in prosthetic hands using a reflective optical sensor and MPI controller
Nakagawa-Silva A.; Reddy Sunkesula S.P.; Prach A.; Cabibihan J.-J.; Thakor N.V.; Soares A.B.... more authors ... less authors ( Institute of Electrical and Electronics Engineers Inc. , 2018 , Conference Paper)Prosthetic hands have greatly evolved in mechatronic, robotic and control aspects. However, occasional accidents might happen due to excessive grip force or the breaking of contact due to slip. Fast transient slip events ...