Neuroadaptive calibration of tactile sensors for robot skin
| Autor: | Indika B. Wijayasinghe, Isura Ranatunga, Dan O. Popa, Sumit Kumar Das, Sven Cremer |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Robot calibration business.industry 010401 analytical chemistry 02 engineering and technology 01 natural sciences 0104 chemical sciences Task (project management) Contact force 020901 industrial engineering & automation Sensor array Trajectory Calibration Robot Computer vision Artificial intelligence business Tactile sensor |
| Zdroj: | CASE |
| DOI: | 10.1109/coase.2016.7743524 |
| Popis: | In this paper we present a novel automated neuroadaptive approach that can characterize pressure sensitive “skin” deployed on a robot. Both the safety and performance of future co-robots can be greatly enhanced by such sensorized skin, by measuring multiple contact forces with humans and the environment. A challenge that arises with robot skin is the task of calibration to achieve reliable measurements necessary for safe human-robot interaction. To this end, the traditional method of calibrating each sensor prior to its use is a tedious task, especially with inexpensive, miniaturized hardware that can experience material degradation with time. Therefore, we propose an adaptive strategy that learns the sensor array characteristics together with the unknown dynamics of both the robot and human during physical interaction. Convincing experimental results with deployed pressure skin sensors on a PR2 robot are presented to validate our approach. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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