Deep Predictive Models for Active Slip Control

Year
2017
Type(s)
Author(s)
Simon Stepputtis, Heni Ben Amor
Source
Robotics: Science and Systems, Workshop on (Empirically) Data-Driven Manipulation
BibTeX
BibTeX
We discuss a machine learning methodology for actively controlling slip, in order to increase robot dexterity. Leveraging recent insights in Deep Learning, we propose a Deep Predictive Model that uses tactile sensor information to reason about slip and its future influence on the manipulated object. We show in a set of experiments that this approach can be used to increase a robot’s repertoire of skills.