Slip Detection With a Biomimetic Tactile Sensor
نویسندگان
چکیده
منابع مشابه
Slip Detection and Classification for Grip Control using Multiple Sensory Modalities on a Biomimetic Tactile Sensor
Achieving human-level performance in dexterous grasping tasks will likely require richer tactile sensing than is currently available [1]. Recently, biomimetic tactile sensors, designed to provide more humanlike capabilities, have been developed. These new sensors provide an opportunity to significantly improve the robustness of robotic manipulation. In order to take full advantage of the inform...
متن کاملForce Estimation and Slip Detection for Grip Control using a Biomimetic Tactile Sensor
We introduce and evaluate contact-based techniques to estimate tactile properties and detect manipulation events using a biomimetic tactile sensor. In particular, we estimate finger forces, and detect and classify slip events. In addition, we present a grip force controller that uses the estimation results to gently pick up objects of various weights and texture. The estimation techniques and t...
متن کاملBiomimetic Tactile Sensor Array
The performance of robotic and prosthetic hands in unstructured environments is severely limited by their having little or no tactile information compared to the rich tactile feedback of the human hand. We are developing a novel, robust tactile sensor array that mimics the mechanical properties and distributed touch receptors of the human fingertip. It consists of a rigid core surrounded by a w...
متن کاملA High-Speed Tactile Sensor for Slip Detection
Dexterous grasping and manipulation of objects with robot hands requires the ability to monitor contact locations in real-time and with good spatial resolution in order to close the control loop required for object and contact trajectory generation. The ability to recognize incipient slippage will allow for autonomous grasp force adaption – a major prerequisite to handle objects of unknown weig...
متن کاملSlip Classification Using Tangential and Torsional Skin Distortions on a Biomimetic Tactile Sensor
I. INTRODUCTION There are two main categories of object slip: linear and rotational. During linear slip, the object maintains its orientation with respect to the local end-effector frame but gradually slides out of the robot fingers. During rotational slip, the center of mass of the object tends to rotate about an axis normal to the grasp surface, although the point of contact with the robot's ...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2018
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2018.2852797