Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Leveraging distributed contact force measurements for slip detection: a
  physics-based approach enabled by a data-driven tactile sensor   Grasping objects whose physical properties are unknown is still a great
challenge in robotics. Most solutions rely entirely on visual data to plan the
best grasping strategy. However, to match human abilities and be able to
reliably pick and hold unknown objects, the integration of an artificial sense
of touch in robotic systems is pivotal. This paper describes a novel
model-based slip detection pipeline that can predict possibly failing grasps in
real-time and signal a necessary increase in grip force. As such, the slip
detector does not rely on manually collected data, but exploits physics to
generalize across different tasks. To evaluate the approach, a state-of-the-art
vision-based tactile sensor that accurately estimates distributed forces was
integrated into a grasping setup composed of a six degrees-of-freedom cobot and
a two-finger gripper. Results show that the system can reliably predict slip
while manipulating objects of different shapes, materials, and weights. The
sensor can detect both translational and rotational slip in various scenarios,
making it suitable to improve the stability of a grasp.

24
The categories of this paper are: dg-ga
35
The categories of this paper are: mtrl-th
17
The categories of this paper are: q-fin
3
The categories of this paper are: physics
37
The categories of this paper are: supr-con
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
27
The categories of this paper are: comp-gas
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
30
The categories of this paper are: q-alg
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph