Bioinspired trajectory modulation for effective slip control in robot manipulation
Kiyanoush Nazari, Willow Mandil, Marco Santello, Seongjun Park, Amir M. Ghalamzan E.
Abstract
Ensuring a stable grasp during robotic manipulation is essential for dexterous and reliable performance. Traditionally, slip control has relied on grip force modulation. Here we show that trajectory modulation provides an effective alternative for slip prevention in certain robotic manipulation tasks. We develop and compare a slip control policy based on trajectory modulation with a conventional grip-force-based approach. Our results demonstrate that trajectory modulation can significantly outperform grip force control in specific scenarios, highlighting its potential as a robust slip control strategy. Furthermore, we show that, similar to humans, incorporating a data-driven action-conditioned forward model within a model predictive control framework is key to optimizing trajectory modulation for slip prevention. These findings introduce a predictive control framework leveraging trajectory adaptation, offering a new perspective on slip mitigation. This approach enhances grasp stability in dynamic and unstructured environments, improving the adaptability of robotic systems across various applications.