Robust Detection of Absence of Slip in Robot Hands and Feet
Massalim Y. Kappassov Z. Varol H.A. Hayward V.
15 December 2021Institute of Electrical and Electronics Engineers Inc.
IEEE Sensors Journal
2021#21Issue 2427897 - 27904 pp.
We describe an algorithm that can robustly decide whether a grip or a footstep is secure given data collected from at least two independent sensors. This algorithm is based on the observation that if there is an absence of slip, then, owing to the high velocity of mechanical waves in solids, the two sensor signals must be highly correlated, even in the presence of internal or external perturbations. The statistical distance between signals collected during slip and non-slip phases, regarded as random distributions, also provides a continuous measure of graspability or walkability of an object being held or a ground being stepped on. We tested the algorithm on a bench using micro-electro-mechanical system (MEMS) accelerometers and with a variety of materials of different surface roughnesses. We also discuss the applications of this non-slip/slip discrimination algorithm and its putative relationship with human gripping behavior.
dexterous manipulation , haptic manipulation , Slip detection , tactile sensing
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Robotics Department, Nazarbayev University, Nur-Sultan, Kazakhstan
Actronika SAS, Paris, France
Robotics Department
Actronika SAS
10 лет помогаем публиковать статьи Международный издатель
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