Acquisition of Multi-Modal Expression of Slip through Pick-Up Experiences

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 constraint in the real environment. This paper discusses on 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 adaptive picking