Name
Title | ||
|---|---|---|
Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system |
Abstract | ||
|---|---|---|
Dexterous manipulation of everyday objects requires a precise tactile sense. Slip detection is mandatory to overcome uncertainty and compensate for external disturbances. We compare three different approaches for detecting slip. The methods are model-based slip detection via friction cones, vibration-based detection via bandpass filtering, and a common learning algorithm. They are implemented and tested on a tendon-driven two-finger setup equipped with two tactile BioTac® sensors. Several experiments are conducted to evaluate each approach. The characteristics of the methods are discussed and compared. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907252 | international conference on robotics and automation |
Keywords | Field | DocType |
dexterous manipulators,slip,tactile sensors,vibration control,BioTac sensor,DLR hand arm system,bandpass filtering,common learning algorithm,dexterous manipulation,friction cones,slip detection strategy,tactile sensing,tendon-driven two-finger setup,vibration-based detection | Simulation,Slip (materials science),Control engineering,Engineering | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
6 | 0.51 | 9 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jens Reinecke | 1 | 23 | 3.33 |
| Alexander Dietrich | 2 | 79 | 7.35 |
| Florian Schmidt | 3 | 268 | 34.52 |
| Maxime Chalon | 4 | 125 | 8.92 |