Robots’ Handling Objects with Slip Sensors and Triaxial Tactile Sensors

Abstract

Robots need to handle objects which have various shapes to be utilized in various places such as houses, warehouses and factories. Tactile and slip sense gives important information to handle objects. Sensing tactile sense and slippage is often used for minimum force grasping or in-hand manipulations, but there are few other application examples. In this study, we realize shifting a bowl of stacked bowls by operation or with an algorithm, as some of the application examples using slip and tactile information. We also investigate how to utilize the data of slip and tactile sensing to generate successful motion.