notesum.ai

Published at December 3

An Adaptive Grasping Force Tracking Strategy for Nonlinear and Time-Varying Object Behaviors

cs.RO

cs.LG

cs.SY

eess.SY

Released Date: December 3, 2024

Authors: Ziyang Cheng¹, Xiangyu Tian², Ruomin Sui², Tiemin Li², Yao Jiang²

Aff.: ¹Weiyang College, Tsinghua University, Beijing, China; ²Department of Mechanical Engineering, Tsinghua University, Beijing, China

Arxiv: http://arxiv.org/pdf/2412.02335v1

Refer to caption

	Ours		MiFREN
Object	Asymptotic Error (N)	Probing Time (s)	Asymptotic Error (N)	Probing Time (s)
Weight	0.09	1.14	0.09	30.22
Empty Can	0.22	0.07	0.19	78.00
Tofu	0.17	3.26	0.18	54.02
Balloon	0.24	3.32	1.55	10.63
Cup with Weight	0.20	3.60	0.49	38.65
Whiteboard Eraser	0.17	3.12	0.20	46.12
Aluminum Tube	0.28	3.98	1.47	11.69
Modeling Clay	0.10	6.56	0.23	30.27
Toothpaste	0.10	8.70	0.14	37.58
Tomato	0.15	1.70	0.13	30.63
Sliced Bread	0.18	3.97	0.45	39.49
Doll	0.19	3.84	0.50	31.43
Milk Carton	0.08	1.79	0.07	45.35
Cake	0.11	1.66	0.16	30.01
Average	0.16	3.34	0.42	36.72