Skip to Main content Skip to Navigation
Journal articles

Robust detection of absence of slip in robot hands and feet

Abstract : We describe an algorithm that can robustly decide whether a grip or a footstep is secure given data collected from at least two independent sensors. This algorithm is based on the observation that if there is an absence of slip, then, owing to the high velocity of mechanical waves in solids, the two sensor signals must be highly correlated, even in the presence of internal or external perturbations. The statistical distance between signals collected during slip and non-slip phases, regarded as random distributions, also provides a continuous measure of graspability or walkability of an object being held or a ground being stepped on. We tested the algorithm on a bench using micro-electro-mechanical system (MEMS) accelerometers and with a variety of materials of different surface roughnesses. We also discuss the applications of this non-slip/slip discrimination algorithm and its putative relationship with human gripping behavior.
Document type :
Journal articles
Complete list of metadata

https://hal.sorbonne-universite.fr/hal-03521398
Contributor : Hal Sorbonne Université Gestionnaire Connect in order to contact the contributor
Submitted on : Tuesday, January 11, 2022 - 3:20:33 PM
Last modification on : Friday, January 14, 2022 - 9:46:03 AM

File

 Restricted access
To satisfy the distribution rights of the publisher, the document is embargoed until : 2022-07-11

Please log in to resquest access to the document

Identifiers

Citation

Yerkebulan Massalim, Zhanat Kappassov, Huseyin Atakan Varol, Vincent Hayward. Robust detection of absence of slip in robot hands and feet. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2021, 21 (24), pp.27897-27904. ⟨10.1109/JSEN.2021.3127501⟩. ⟨hal-03521398⟩

Share

Metrics

Les métriques sont temporairement indisponibles