Using a Piezo-Resistive Tactile Sensor for Detection of Incipient Slippage
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 7Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Schöpfer, Matthias; Schürmann, Carsten; Pardowitz, Michael; Ritter, Helge (Bielefeld University, Bielefeld, Germany)
The detection of incipient slip is an important cornerstone in tactile based grasping. In this paper, we present an approach to detect incipient slip using a fast piezo-resistive, yet static tactile sensor pad. Our approach renders special slip sensors obsolete and therefore enables static and dynamic sensing with one sensing mechanism. For the detection of the slip, a fast fourier transform is used to pre-process the data. In a subsequent step, a standard artificial neural net is trained on the data from the frequency domain to detect slippage, as well as to discriminate different surface textures.