Abstract
This paper demonstrates the use of Robot Operating System (ROS) to control an adaptive soft gripper. Firstly, the adaptive soft gripper used in this paper is introduced, including the main body, driving scheme and force sensors. Then, detailed control schemes including the ROS-based control framework and the force feedback based grasping strategy are presented. Finally, gripping experiments on different objects are performed to verify the performance of the proposed method. The results show that by adopting the proposed control scheme, objects of multi-shape objects can be grasped by the gripper safely and stably.
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Acknowledgement
This work has been funded by National Natural Science of China (No. 518201050-07, 51905176), the Guangdong Basic and Applied Basic Research Foundation (2021A1515012418), Dongguan Postgraduate Joint Training (Practice) Workstation Project (2019707122025).
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Qiu, Y., Zhang, X., Li, H., Wang, R. (2021). ROS-Based Control Implementation of an Soft Gripper with Force Feedback. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_51
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DOI: https://doi.org/10.1007/978-3-030-89095-7_51
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