{"id":19968753,"url":"https://github.com/ioannisdadiotis/fss_thesis","last_synced_at":"2025-08-16T07:24:05.874Z","repository":{"id":195795742,"uuid":"472527049","full_name":"IoannisDadiotis/fss_thesis","owner":"IoannisDadiotis","description":"Diploma thesis concerning the development of a force sensory system for a small fabric gripper and formation control of two wheeled mobile robots based on fabric force feedback","archived":false,"fork":false,"pushed_at":"2022-03-24T08:39:08.000Z","size":58,"stargazers_count":1,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-07-23T19:05:39.394Z","etag":null,"topics":["force-control","force-sensing","multi-robot-formation-control","strain-gauge"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/IoannisDadiotis.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2022-03-21T22:02:19.000Z","updated_at":"2025-04-04T15:57:29.000Z","dependencies_parsed_at":"2023-09-19T16:45:52.550Z","dependency_job_id":null,"html_url":"https://github.com/IoannisDadiotis/fss_thesis","commit_stats":null,"previous_names":["ioannisdadiotis/fss_thesis"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/IoannisDadiotis/fss_thesis","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IoannisDadiotis%2Ffss_thesis","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IoannisDadiotis%2Ffss_thesis/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IoannisDadiotis%2Ffss_thesis/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IoannisDadiotis%2Ffss_thesis/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/IoannisDadiotis","download_url":"https://codeload.github.com/IoannisDadiotis/fss_thesis/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/IoannisDadiotis%2Ffss_thesis/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":270681473,"owners_count":24627378,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-16T02:00:11.002Z","response_time":91,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["force-control","force-sensing","multi-robot-formation-control","strain-gauge"],"created_at":"2024-11-13T02:47:47.656Z","updated_at":"2025-08-16T07:24:05.857Z","avatar_url":"https://github.com/IoannisDadiotis.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# fss_fabric_force_control\n\n## Development of the force sensory system\nThe developed force sensory system (FSS) is based on strain gauge-sensing and targeted for the fabric gripper that is presented in:\n\n* PN Koustoumpardis, S Smyrnis, NA Aspragathos, [A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism], International Conference on Robotics in Alpe-Adria Danube Region, 2017\n\nThe measurement chain of the FSS consists of:\n\n* 4 strain gauges 350 Ohm Tokyo Instruments FLAB-3-350-11-1LJB-F\n* 2 custom half Wheatstone bridges (custom made with 350 Ohm resistors)\n* A Load Cell/Wheatstone Shield Amplifier bought by [Robotshop.com]. The shield is equipped with an AD8426 amplifier from Analog Devices that achieves gain up to 1000.\n* A Nucleo F334R8 microcontroller.\n\n\u003c!--p float=\"left\"\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159372939-beaf94a2-fa9c-4b10-b6cc-da1e09dafda9.png\" width=\"250\" /\u003e\n  \u003cimg width=\"10\" /\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159373044-4143eb60-5efa-44cb-ad3a-6fe17e54c543.png\" width=\"300\" /\u003e \n\u003c/p--\u003e\n\nThe sensing principle of the FSS is shown below:\n\n\n\u003cimg src=\"https://user-images.githubusercontent.com/75118133/159374038-3470c8cd-0274-4bee-ba54-6d72d12e9dba.png\" width=\"450\" /\u003e\n\n\u003cp float=\"left\"\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159375447-395f4a6d-1de8-4425-b5af-53eb7837ac1e.png\" width=\"350\" /\u003e\n  \u003cimg width=\"50\" /\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159375021-d0e04246-2cdb-4cbb-838e-31c801a3b4b3.png\" width=\"200\" /\u003e \n\u003c/p\u003e\n\nAll components are installed onboard a small mobile robot which is equipped with a esp8266 Wi-Fi module for wireless communication with a laptop.\n\n\u003c!--![image](https://user-images.githubusercontent.com/75118133/159376847-4b2ff712-d9be-4eac-9caa-80cc84c042f4.png)--\u003e\n\nhttps://user-images.githubusercontent.com/75118133/159466400-35142a2c-c064-4421-b7d7-cb027e79a0fe.mp4\n\n## Fabric force control\nThe FSS presente above was used for cooperative fabric transportation by two wheeled mobile robot in a leader-follower formation. Only the follower is equipped with the FSS and used the provided fabric force feedback to follow the leader.\n\n\u003cimg src=\"https://user-images.githubusercontent.com/75118133/159376304-20202a23-c892-4d47-8cb0-8b0c0be8201a.png\" width=\"450\" /\u003e\n\nThe force control system of the follower is comprised of two parallel PID controllers.\n\n\u003cp float=\"left\"\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159375837-40476073-5735-401d-93b3-7df05c143125.png\" width=\"300\" /\u003e\n  \u003cimg width=\"10\" /\u003e\n  \u003cimg src=\"https://user-images.githubusercontent.com/75118133/159376542-c8e2db9f-2235-49e5-8044-274fb0c01a08.png\" width=\"250\" /\u003e \n\u003c/p\u003e\n\nhttps://user-images.githubusercontent.com/75118133/159466671-b49ed355-f67b-4f78-b4b5-3cac6e75bfd1.mp4\n\n## Running the system\n\n* The onboard Nucleo MCU accepts code in C++ and can be programmed through the [mbed online compiler] while in cabled connection with the laptop. The MCU keeps the code that was last passed and runs it every time you switch it on or press the reset button.\n* The Wifi communication between laptop and robot as well as the force control scheme is implemented in Python.\n* To read the data from the FSS with the robot not moving and connected through usb cable with the laptop, you have to pass the code of `src/mbed/Static_experiments_Nucleo.txt` to the MCU throught the online compiler.\n* For the wireless force control experiments (connection through Wi-Fi) the procedure is:\n  - Pass the code at `src/mbed/Control experiments_Nucleo_follower.txt` and `src/mbed/Control experiments_Nucleo_leader.txt` to the follower and leader robots, respectively. Remember the follower is equipped with the FSS.\n  - Run the code `src/wifi_communication/server.py` on the laptop\n  - Switch-on or reset the robots.\n  - To succesfully connect the robots with the laptop their IPs should be properly configured in the above files.\n            \n## Pubications\nThis work is related with the above publications:\n\n* ID Dadiotis, JS Sakellariou, PN Koustoumpardis, [Development of a low-cost force sensory system for force control via small grippers of cooperative mobile robots used for fabric manipulation]. Adv. Mechanisms and Machine Science 2021, 102, 47–58.\n* I. Dadiotis Development of a force sensory system for the control and coordination of mobile robots\nhandling fabrics, Nemertes: Institutional Repository of University of Patras, Patras, Greece, 2020 (in Greek)\nhttp://hdl.handle.net/10889/13747\n\n## Contributors\nThis thesis project was conducted at the Robotics Group, Department of Mechanical Engineering and Aeronautics at the University of Patras, Greece during 2019-2020 by Ioannis Dadiotis and supervised by Dr. J. Sakellariou and Dr. P. Koustoumpardis. Christos Chrysikos and Charalampos Rodopoulos contributed to the implementation of the WiFi communication and force control.\n\n![image](https://user-images.githubusercontent.com/75118133/159381029-ff271c1e-f995-42a1-a11a-2c50890c7e5e.png)\n\n[A 3-finger robotic gripper for grasping fabrics based on CAMS-followers mechanism]: https://link.springer.com/chapter/10.1007/978-3-319-61276-8_64\n[Robotshop.com]: https://www.robotshop.com/ca/en/strain-gauge-load-cell-amplifier-shield-2ch.html?gclid=CjwKCAjwxOCRBhA8EiwA0X8hi5xmquA2swnKK2UYyfPzypNpCCVFiv0ISvpgf9J5K1QTpcKl0yu6_RoCApkQAvD_BwE\n[Development of a low-cost force sensory system for force control via small grippers of cooperative mobile robots used for fabric manipulation]: https://link.springer.com/chapter/10.1007/978-3-030-75259-0_6\n[mbed online compiler]: https://os.mbed.com/handbook/mbed-Compiler\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fioannisdadiotis%2Ffss_thesis","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fioannisdadiotis%2Ffss_thesis","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fioannisdadiotis%2Ffss_thesis/lists"}