Friction Estimation for In-Hand Planar Motion
Arslan Waltersson, Gabriel and Karayiannidis, Yiannis LU
(2025)
19th International Symposium on Experimental Robotics
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/907656a3-17e7-498f-9a6f-fb4c60c1c148
- author
- Arslan Waltersson, Gabriel
and Karayiannidis, Yiannis
LU
- organization
- publishing date
- 2025-07
- type
- Contribution to conference
- publication status
- published
- subject
- pages
- 10 pages
- conference name
- 19th International Symposium on Experimental Robotics
- conference location
- Santa Fe, United States
- conference dates
- 2025-07-06 - 2025-07-10
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 907656a3-17e7-498f-9a6f-fb4c60c1c148
- alternative location
- https://drive.google.com/file/d/1mJWaS9QPRU3TifTHjkSXmvneeAcTvJSg/view?usp=drive_link
- date added to LUP
- 2025-12-16 15:16:11
- date last changed
- 2026-03-19 11:27:25
@misc{907656a3-17e7-498f-9a6f-fb4c60c1c148,
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.}},
author = {{Arslan Waltersson, Gabriel and Karayiannidis, Yiannis}},
language = {{eng}},
title = {{Friction Estimation for In-Hand Planar Motion}},
url = {{https://drive.google.com/file/d/1mJWaS9QPRU3TifTHjkSXmvneeAcTvJSg/view?usp=drive_link}},
year = {{2025}},
}