Model-Based Systems Engineering Applied to the Detection and Correction of Object Slippage within a Dexterous Robotic Hand

Abstract

Slip detection and correction plays a very important role in robotic manipulation tasks, and it has long been a challenging problem in the robotic community. Further, the advantage of using systems engineering tools and framework to approach a solution and/or modeling of robotic tasks is not often pursued. In this paper, we use Model-Based Systems Engineering techniques to verify system requirements and validate stakeholder requirements for the problem of detecting and correcting for object slippage within a dexterous five-fingered robotic hand. We will discuss how the work accomplished in our laboratory was transferred to a simulated environment and how this simulated environment built in CoppeliaSim was connected to a systems engineering software, Cameo Systems Modeler. Measures of effectiveness were created from the stakeholder requirements for the slippage problem which allowed us to validate the robotic simulation that was built. Structural diagrams of the robotic system and environment were built along with behavioral diagrams of the simulation. Further, we used the connection of Cameo Systems Modeler and CoppeliaSim to track the measures of effectiveness for our robotic task which provided us with a complete systems engineering framework for the problem from the requirements phase through the implementation phase. Our main goal is to show the advantages of following a systems engineering framework to complete a robotic task through the connection of Cameo Systems Modeler and CoppeliaSim.