9 accepted papers
Detecting incipient slip enables early intervention to prevent object slippage and enhance robotic manipulation safety. Achieving this requires tactile interfaces with compliant, high-sensitivity skins that amplify local deformation differences and tactile sensing pipelines that preserve and exploit
Timely detection of incipient slip is critical for delicate robotic grasping and dexterous manipulation. However, existing learning-based methods suffer from detection latency and high computational demands. In this paper, we present an ultra-fast lightweight incipient slip detection framework based
Timely detection of incipient slip is critical for delicate robotic grasping and dexterous manipulation. However, existing learning-based methods suffer from detection latency and high computational demands. In this paper, we present an ultra-fast lightweight incipient slip detection framework based…
This letter presents our solution for the Real Robot Challenge III <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> , aiming to address dexterous robotic manipulation tasks through learning from offline data. In this competition, participants wer
The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detection can enhance the overall security of robotic gripping. However, accurately detecting incipient slip remains a signific
Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we would consider as positive examples; i.e., high-quality demons…
Incipient slip is defined as the slippage of part, but not all, of the contact surface between a sensor and an object. Reliably detecting incipient slip in artificial tactile sensors would benefit autonomous robot handling capabilities by helping prevent object slippage during manipulation. Here, we…
An important capability of humans when performing dexterous precision gripping tasks is our ability to feel both the weight and slipperiness of an object in real-time, and adjust our grip force accordingly. In this paper, we present for the first time a fully-instrumented version of our PapillArray…
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of markers on the sensor's external surface. Incipient slip is defined as slippage of part, but not all, of the contact sur…