Friction Estimation for In-Hand Planar Motion

TL;DR

This paper introduces an online method to estimate contact friction properties during in-hand sliding manipulation using tactile data, validated through simulations and real-world tests, with a heuristic to handle slip-stick dynamics.

Contribution

It presents a novel online estimation technique for contact friction and contact radius during in-hand manipulation, including a heuristic for slip-stick dynamics.

Findings

Accurate estimation of static and Coulomb friction in real-time

Effective handling of slip-stick dynamics in estimation process

Validation of the method in both simulation and real-world experiments

Abstract

This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of contact forces and sliding velocities. The method is validated in both simulation and real-world experiments. Furthermore, we propose a heuristic to deal with fast slip-stick dynamics which can adversely affect the estimation.