Contact Force and Joint Torque Estimation Using Skin

Autor:	Chavez, Francisco Javier Andrade, Kangro, Joan, Traversaro, Silvio, Nori, Francesco, Pucci, Daniele
Rok vydání:	2017
Předmět:	Computer Science - Robotics 93C85 68T40
Druh dokumentu:	Working Paper
Popis:	In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The application of these interpolation techniques allows us to estimate contact forces and joint torques without the need for expensive force-torque sensors. Validation was performed using the iCub humanoid robot. Comment: Submitted to ICRA2018
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1709.06902 Zobrazit plný text záznamu View this record from Arxiv