Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing

doi:10.1109/TNNLS.2023.3270579

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing
	Cui, Shaowei 2; Wang, Shuo 2,3,4; Wang, Rui 2; Zhang, Shaolin 2; Zhang, Chaofan 1,3
刊名	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
	2023-05-24
页码	10
关键词	Sensors Task analysis Three-dimensional displays Point cloud compression Feature extraction Adaptive control Grasping Dexterous manipulation slip detection slip feedback control tactile sensing
ISSN号	2162-237X
DOI	10.1109/TNNLS.2023.3270579
通讯作者	Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要	Endowing the robot with tactile perception can effectively improve manipulation dexterity, along with various benefits of human-like touch. Using GelStereo (GS) tactile sensing, which gives high-resolution contact geometry information, including 2-D displacement field, and 3-D point cloud of the contact surface, we present a learning-based slip detection system in this study. The results reveal that the well-trained network achieves 95.79% accuracy on the never-seen testing dataset, which surpasses the current model-based and learning-based methods using visuotactile sensing. We also propose a general framework for slip feedback adaptive control for dexterous robot manipulation tasks. The experimental results show the effectiveness and efficiency of the proposed control framework using GS tactile feedback when deployed on real-world grasping and screwing manipulation tasks on various robot setups.
资助项目	National Key Research and Development Program of China[2018AAA0103003] ; National Natural Science Foundation of China[62273342] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222055] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program
WOS关键词	TACTILE ; LOCALIZATION
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001005817500001
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53462]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Shuo
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China
推荐引用方式 GB/T 7714	Cui, Shaowei,Wang, Shuo,Wang, Rui,et al. Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2023:10.
APA	Cui, Shaowei,Wang, Shuo,Wang, Rui,Zhang, Shaolin,&Zhang, Chaofan.(2023).Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,10.
MLA	Cui, Shaowei,et al."Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS (2023):10.