Using The Feedback of Dynamic Active-Pixel Vision Sensor (Davis) to Prevent Slip in Real Time

TL;DR

This paper presents a real-time slip detection method using a DAVIS active-pixel vision sensor as a tactile feedback tool, validated through extensive experiments with a robot gripper to improve slip prevention.

Contribution

It introduces a novel approach leveraging DAVIS camera events for real-time slip detection, enhancing robot tactile sensing capabilities.

Findings

High accuracy in slip detection across various objects

Effective real-time feedback improves robot grip stability

Validation against force sensors confirms reliability

Abstract

The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high resolution. Two hundred experiments were performed on four objects with different shapes, sizes, weights, and materials to compare the accuracy and response of the Baxter robot grippers to avoid slipping. The advanced approach is validated by using a force-sensitive resistor (FSR402). The events captured with the DAVIS camera are processed with specific algorithms to provide feedback to the Baxter robot aiding it to detect the slip.