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 constraints in the real environment. This paper discusses 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 robust and adaptive picking.