Slippage Estimation Using Sensor Fusion
In this paper, a non-contact slippage estimation approach using sensor fusion is proposed. The sensor consists of a charge-coupled device (CCD) camera and structured light emitter. The slip margin is obtained by estimating very small displacement of the g
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Abstract. In this paper, a non-contact slippage estimation approach using sensor fusion is proposed. The sensor consists of a charge-coupled device (CCD) camera and structured light emitter. The slip margin is obtained by estimating very small displacement of the grasped object in consecutive frames sequence captured by CCD camera. In experiments, we apply our approach on a slip-margin feedback control gripper system. The three degree of freedom (DOF) gripper consisting of a CCD camera, structured light and force sensor grasps a target object. The incipient slippage occurs on the contact surface between grip fingers and grasping object when the object is pressed and slid, is estimated by proposed approach. Then, the grip force is immediately controlled by a direct feedback of the estimated slip margin. Consequently, the force is adaptively maintained in order to prevent the object from damage. The proposed approach validity is confirmed by results of experiments. Keywords: Slippage estimation
Small motion detection Objects detection
1 Introduction Tactile receptors distributed on the human skin allow human to sense grasped objects slippage so that human can easily control their hand contact force to prevent the objects from sliding. Imitating skilled human behaviors, many types of tactile sensor have been developed by using electrical resistive, capacitive, electromagnetic or ultrasonic component, piezoelectric, optical component, strain gauges, etc. [1–3]. These sensors structure are complex, they require numerous sensing elements and complicated wiring. Apart from that, vision-based sensors or optical sensors are also developed for tactile sensing [4–6]. In order to dealing with solid objects, the vision-based tactile sensor usually consists of a CCD camera, source light emitter, a transparent acrylic plate, and touchpad [7–9]. These sensors obtain slippage based on the movements of dots printed on the surface of the touchpad captured by the CCD camera. In [10], an approach estimating slippage of grasped flexible object, an elastic object, is proposed. A feature point is drawn on the apex of the elastic sphere and the authors used deformation of the contact area measured by a camera through a transparent plate when an elastic object slides on a rigid plate. These above contacted sensors can obtain a variety of tactile information such as contact region, slippage, and contact force accurately but many crucial issues remain unresolved. Firstly, these sensors are very expensive and their structures are used to be complex, require many sensing elements and complicated manufacturing. Secondly, © Springer International Publishing Switzerland 2016 D.-S. Huang and K.-H. Jo (Eds.): ICIC 2016, Part II, LNCS 9772, pp. 471–481, 2016. DOI: 10.1007/978-3-319-42294-7_42
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T.-T. Tran and C. Ha
these sensors still meet difficulty in obtaining various types of information simultaneously for example determining the grasped object position, orientation in 3-dimentional space. Thirdly, the sensor surface of these sensors can
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