A Differentiable Extended Kalman Filter for Object Tracking Under Sliding Regime

Tactile sensing represents a valuable source of information in robotics for perception of the state of objects and their properties. Modern soft tactile sensors allow perceiving orthogonal forces and, in some cases, relative motions along the surface of the object. Detecting and measuring this kind of lateral motion is fundamental to react to possibly uncontrolled slipping and sliding of the object being manipulated. Object slip detection and prediction have been extensively studied in the robotic community leading to solutions with good accuracy and suitable for closed-loop grip stabilization. However, algorithms for object perception, such as in-hand object pose estimation and tracking algorithms, often assume no relative motion between the object and the hand and rarely consider the problem of tracking the pose of the object subjected to slipping and sliding motions. In this work, we propose a differentiable Extended Kalman filter that can be trained to track the position and the velocity of an object under translational sliding regime from tactile observations alone. Experiments with several objects, carried out on the iCub humanoid robot platform, show that the proposed approach allows achieving an average position tracking error in the order of 0.6 cm, and that the provided estimate of the object state can be used to take control decisions using tactile feedback alone. A video of the experiments is available as Supplementary Material.