Acquisition of multi-modal expression of slip through pick-up experiences
Abstract:To realize adaptive and robust manipulation, a robot should have several sensing modalities and coordinate their outputs to achieve the given task based on underlying constraints in the real environment. This paper discusses acquisition of multi-modal expression of slip consisting of vibration, pressure and vision sensations through pick-up experiences. A sensor network is proposed to acquire the expression, whose learning ability is demonstrated by a real experiment. The applicability of the learned network is also demonstrated by experiments to realize robust and adaptive picking.
Document Type: Research Article
Affiliations: 1: Department of Adaptive Machine Systems, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan 2: Department of Adaptive Machine Systems, HANDAI FRC, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Publication date: May 1, 2007