🔧 Adaptive Tactile Force Control

Adaptive Tactile Force Control in a Parallel Gripper with Low Positioning Resolution

IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5544-5551, Sep. 2023

Paper | Video

Table of Contents

• Update
• Installation
• Citing this paper

🆕 Updates

2023-07-20 - Update the README.md

⚙️ Installation

Requirements

• hsp-panda/xela-server-ros
• hsp-panda/panda_moveit_config
• hsp-panda/robotiq
• franka-control
• simple_pid

ℹ️ How to install franka control

sudo apt install ros-<your_ros_distro>-franka-control

ℹ️ How to install simple pid

pip install simple_pid

How to install

Please clone this repository within a ROS workspace, then build it with:

catkin build

⚠️ These instructions are at the moment tailored to our robot setup. We are working to separate the actual algorithm presented in the paper from the implementation of the ROS node.

📰 Citing this paper

@ARTICLE{10187696,
  author={Piga, Nicola A. and Natale, Lorenzo},
  journal={IEEE Robotics and Automation Letters}, 
  title={Adaptive Tactile Force Control in a Parallel Gripper With Low Positioning Resolution}, 
  year={2023},
  volume={8},
  number={9},
  pages={5544-5551},
  doi={10.1109/LRA.2023.3297061}}

🧔 Maintainer

This repository is maintained by:

	@xenvre