Tactile-Driven Grasp Stability and Slip Prediction
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http://hdl.handle.net/10045/96809
Title: | Tactile-Driven Grasp Stability and Slip Prediction |
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Authors: | Zapata-Impata, Brayan S. | Gil, Pablo | Torres, Fernando |
Research Group/s: | Automática, Robótica y Visión Artificial |
Center, Department or Service: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Keywords: | Robotic grasping | Tactile perception | Intelligent manipulation | Stability detection | Slip detection |
Knowledge Area: | Ingeniería de Sistemas y Automática |
Issue Date: | 26-Sep-2019 |
Publisher: | MDPI |
Citation: | Zapata-Impata BS, Gil P, Torres F. Tactile-Driven Grasp Stability and Slip Prediction. Robotics. 2019; 8(4):85. doi:10.3390/robotics8040085 |
Abstract: | One of the challenges in robotic grasping tasks is the problem of detecting whether a grip is stable or not. The lack of stability during a manipulation operation usually causes the slippage of the grasped object due to poor contact forces. Frequently, an unstable grip can be caused by an inadequate pose of the robotic hand or by insufficient contact pressure, or both. The use of tactile data is essential to check such conditions and, therefore, predict the stability of a grasp. In this work, we present and compare different methodologies based on deep learning in order to represent and process tactile data for both stability and slip prediction. |
Sponsor: | Work funded by the Spanish Ministries of Economy, Industry and Competitiveness and Science, Innovation and Universities through the grant BES-2016-078290 and the project RTI2018-094279-B-100, respectively, as well as the European Commission and FEDER funds through the COMMANDIA project (SOE2/P1/F0638), action supported by Interreg-V Sudoe. |
URI: | http://hdl.handle.net/10045/96809 |
ISSN: | 2218-6581 |
DOI: | 10.3390/robotics8040085 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Rights: | © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
Peer Review: | si |
Publisher version: | https://doi.org/10.3390/robotics8040085 |
Appears in Collections: | INV - AUROVA - Artículos de Revistas |
Files in This Item:
File | Description | Size | Format | |
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2019_Zapata-Impata_etal_Robotics.pdf | 4,01 MB | Adobe PDF | Open Preview | |
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