Using The Feedback of Dynamic Active-Pixel Vision Sensor (Davis) to Prevent Slip in Real Time

Armin Masoumian, Mohammad Chehreghani Montazer, Domenec Puig-Valls, Pezhman Kazemi, Hatem A. Rashwan

Abstract: The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach DAVIS camera used as a vision tactile sensor due to its fast process speed and high resolution. Two hundred experiments were performed on four objects with different shape, size, weight and material to compare the accuracy and respond of the Baxter robot grippers to avoid slipping. The advanced approach is validated by using a force-sensitive resistor (FSR402). The events captured with DAVIS camera are processed with specific algorithms to provide feedback to the Baxter robot aiding it to detect the slip.