slip_detection_dataset_2021

Dataset Overview

Dataset Name

slip_detection_dataset_2021

Data Collection Environment

The dataset contains tactile data collected during autonomous robot grasping and placing tasks.

Data Collection Equipment

• Robot Arm and Gripper: EZGripper mounted on a Universal Robot UR5 arm.
• Tactile Sensor: One finger of the EZGripper was replaced with a dedicated structure containing a uSkin tactile sensor.
• Vision Sensor: Kinect2 positioned above the workbench for autonomous grasp generation.

Tactile Sensor Characteristics

• Sensor Type: uSkin sensor.
• Number of Sensory Points: 18 points arranged 3×6.
• Sampling Frequency: 180 Hz.
• Measurement Capability: Each point independently measures applied normal and shear forces.

Dataset Content

• Number of Objects: 3 (solder spool, brush, screwdriver).
• Object Poses: Each object placed in three different poses within a 50 cm × 50 cm workspace.
• Experiment Repetitions: Each pose repeated ten times, yielding 30 grasps per object.

Data Storage Format

Data are stored in HDF5 files, one file per object.