Detection of Slip from Vision and Touch

Detecting the onset/ongoing of slip, i.e. if a grasped object is slipping or will slip from the gripper while being lifted, is crucial. Conventionally, it is regarded as a tactile sensing related problem. However, recently multi-modal robotic learning has become popular and is expected to boost the performance. In this paper we propose a novel CNN-TCN model to fuse tactile and visual information for detecting the onset/ongoing of slip. In our experiments, two uSkin tactile sensors and one Realsense435i camera are used. Data is collected by randomly grasping and lifting 35 daily objects 1050 times in total. Furthermore, we compare our CNN-TCN model with the widely used CNN-LSTM model. As a result, our proposed model achieves a 88.75% detection accuracy and outperforms the CNN-LSTM model combined with different pretrained vision networks.