Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

2026-09-11

AI Summary

为解决机器人在非结构化环境中安全抓取未知脆弱物体的问题，提出了一种基于力/扭矩的接触估计方法和自适应柔顺控制策略。

Abstract

Robots are increasingly used in unstructured environments. The need for them to safely grasp unknown objects without damaging them becomes crucial. Humans achieve this by sensing and quickly responding by adjusting their grasping force. Similarly, effective grasp acquisition in robots requires compliant interaction strategies that can adapt to uncertain object properties and adjust to any instabilities during manipulation. We present a geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe grasp acquisition. The desired contact forces are estimated online to keep stable contact with objects of unknown properties. This enables compliant and stable grasps while avoiding excessive forces. Experiments with objects of different sizes, shapes, stiffnesses, and weights show that the proposed algorithm not only prevents slippage but also applies minimal force to safely grasp an object without causing excessive deformation.

Problem

• Safe Grasping
• Fragile Objects
• Unstructured Environments
• Compliant Interaction

Innovation

• geometry-aware force/torque-based contact estimation
• adaptive admittance controller
• coarse position-controlled gripper