Tactile Slip Detection in the Wild Leveraging Distributed Sensing of both Normal and Shear Forces
Rodrigo Zenha,Brice Denoun,Claudio Coppola,Lorenzo Jamone,Rodrigo Zenha,Brice Denoun,Claudio Coppola,Lorenzo Jamone
The ability to detect that a grasped object is slipping from the robot gripper is a crucial skill for autonomous robotic manipulation. However, current solutions for automatic slip detection do not perform well in real-world unstructured settings, in which a wide variety of gripper-object interactions could occur. Tactile and force sensing are the most suitable sensory modalities to detect such ev...
