Distinguishing sliding from slipping during object pushing

@article{Meier2016DistinguishingSF,
  title={Distinguishing sliding from slipping during object pushing},
  author={Martin Meier and Guillaume Walck and Robert Haschke and Helge J. Ritter},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={5579-5584}
}
The advent of advanced tactile sensing technology triggered the development of methods to employ them for grasp evaluation, online slip detection, and tactile servoing. In contrast to recent approaches to slip detection, distinguishing slip from non-slip conditions, we consider the more difficult task of distinguishing different types of slippage. Particularly we consider an object pushing task, where forces can only be applied from the top. In that case, the robot needs to notice when the… CONTINUE READING

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