Passing objects: robot-robot interaction with universal grippers

Abstract

The goal of this project is to study under which circumstances the passing of objects between universal grippers works. The aim is to design a sensorless control strategy that is able to pass different types of objects mid-air, and to assess its performances relatively to noise and perturbations, including different object’s orientations. Experiments however showed that numerous factors related to the membranes of the grippers and their filling granules directly impact the success rate of the transfer. Further investigations with different membrane’s fillings were also made in an attempt to achieve better reliability in the passing strategy. In the end, face-to-face passing was achieved a couple of times in different directions, but not reliably enough for the moment. It has also been shown that shifted passing is possible, but its range of applications is limited due to the dependency to the object’s orientation.