Slip Classification Using Tangential and Torsional Skin Distortions on a Biomimetic Tactile Sensor
نویسندگان
چکیده
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 fingers might stay the same. It is important to discriminate between these two kinds of slip to react and control finger forces accordingly. Previous study has shown rotational slip requires much stronger finger force response than linear slip in order to robustly keep the object grasped within the hand [1].
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