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arXiv · 1709.06902

Contact Force and Joint Torque Estimation Using Skin

Francisco Javier Andrade Chavez·Joan Kangro·Silvio Traversaro·Francesco Nori·Daniele Pucci
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Abstract

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.

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Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci. 2017-09-20. Contact Force and Joint Torque Estimation Using Skin. https://arxiv.org/abs/1709.06902

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