Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor
Pietro Griffa,Carmelo Sferrazza,Raffaello D'Andrea,Pietro Griffa,Carmelo Sferrazza,Raffaello D'Andrea
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick and hold unknown objects, the integration of an artificial sense of touch in robotic systems is pivotal. This paper describes a novel model-based slip detection p...
