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Learning to Detect Slip through Tactile Estimation of the Contact Force Field and its Entropy
March 18, 2024, 4:42 a.m. | Xiaohai Hu, Aparajit Venkatesh, Guiliang Zheng, Xu Chen
cs.LG updates on arXiv.org arxiv.org
Abstract: Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of proficiency comparable to humans, especially in consistently handling and manipulating unfamiliar objects, integrating artificial tactile sensing is increasingly essential. We introduce a novel physics-informed, data-driven approach to detect slip continuously in real time. We employ the GelSight Mini, …
abstract arxiv cs.lg cs.ro detection entropy grasping however information manipulation object robotic role solutions strategy systems through type visual vital
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