Detection of Slip from Vision and Touch
Gang Yan,Alexander Schmitz,Tito Pradhono Tomo,Sophon Somlor,Satoshi Funabashi,Shigeki Sugano,Gang Yan,Alexander Schmitz,Tito Pradhono Tomo,Sophon Somlor,Satoshi Funabashi,Shigeki Sugano
Detecting the onset/ongoing of slip, i.e. if a grasped object is slipping or will slip from the gripper while being lifted, is crucial. Conventionally, it is regarded as a tactile sensing related problem. However, recently multi-modal robotic learning has become popular and is expected to boost the performance. In this paper we propose a novel CNN-TCN model to fuse tactile and visual information f...
