Abstract
Slip detection enables robotic hands to perform complex manipulation tasks by predicting when a held object is about to be dropped. Here we use a support vector machine classifier to detect slip with a biomimetic optical tactile sensor: the TacTip. Previously, this method has been shown to be effective on various artificial stimuli such as flat or curved surfaces. Here, we investigate whether this method generalises to novel, everyday objects. Five different objects are tested which vary in shape, weight, compliance and texture as well as being common objects that one might encounter day-to-day. Success of up to 90% is achieved which demonstrates the classifier’s ability to generalise to a variety of previously unseen, natural objects.
Supported by the EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE) and a Leadership Award from the Leverhulme Trust on ‘A biomimetic forebrain for robot touch’ (RL-2016-39).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Johansson, R.S., Flanagan, J.R.: Coding and use of tactile signals from the fingertips in object manipulation tasks. Nat. Rev. Neurosci. 10(5), 345 (2009)
Saal, H.P., Bensmaia, S.J.: Touch is a team effort: interplay of submodalities in cutaneous sensibility. Trends Neurosci. 37(12), 689–697 (2014)
Yousef, H., Boukallel, M., Althoefer, K.: Tactile sensing for dexterous in-hand manipulation in robotics-a review. Sens. Actuators A Phys. 167(2), 171–187 (2011)
Howe, R.D., Cutkosky, M.R.: Sensing skin acceleration for slip and texture perception. In: 1989 Proceedings of the IEEE International Conference on Robotics and Automation, pp. 145–150. IEEE (1989)
Veiga, F., Van Hoof, H., Peters, J., Hermans, T.: Stabilizing novel objects by learning to predict tactile slip. In: 2015 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5065–5072. IEEE (2015)
Chorley, C., Melhuish, C., Pipe, T., Rossiter, J.: Development of a tactile sensor based on biologically inspired edge encoding. In: 2009 Proceedings of the International Conference on Advanced Robotics, ICAR 2009, pp. 1–6. IEEE (2009)
Lepora, N.F., Aquilina, K., Cramphorn, L.: Exploratory tactile servoing with active touch. IEEE Robot. Autom. Lett. 2(2), 1156–1163 (2017)
Ward-Cherrier, B., Pestell, N., Cramphorn, L., Winstone, B., Giannaccini, M.E., Rossiter, J., Lepora, N.F.: The TacTip family: soft optical tactile sensors with 3D-printed biomimetic morphologies. Soft Robot. (2018)
James, J.W., Pestell, N., Lepora, N.F.: Slip detection with a biomimetic tactile sensor. IEEE Robotics and Automation Letters (2018, in press)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
James, J.W., Lepora, N.F. (2018). Slip Detection on Natural Objects with a Biomimetic Tactile Sensor. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-95972-6_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-95971-9
Online ISBN: 978-3-319-95972-6
eBook Packages: Computer ScienceComputer Science (R0)