Multimodal Anomaly Detection based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots
Youngjae Yoo Chung-Yeon Lee Byoung-Tak Zhang Youngjae Yoo Chung-Yeon Lee Byoung-Tak Zhang
Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms’ slip perception use tactile or vision sensors. However, mobile robots still have to deal with noise in their sensor signals caused by the robot’s movement in a changing environment. To solve this problem, we present an anomaly de...