Experimental comparison of slip detection strategies by tactile sensing with the BioTac<sup>®</sup> on the DLR hand arm system

Abstract

Dexterous manipulation of everyday objects requires a precise tactile sense. Slip detection is mandatory to overcome uncertainty and compensate for external disturbances. We compare three different approaches for detecting slip. The methods are model-based slip detection via friction cones, vibration-based detection via bandpass filtering, and a common learning algorithm. They are implemented and tested on a tendon-driven two-finger setup equipped with two tactile BioTac <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> sensors. Several experiments are conducted to evaluate each approach. The characteristics of the methods are discussed and compared.