触覚arXiv:1709.06902
皮膚センサのみで接触力と関節トルクを推定
Contact Force and Joint Torque Estimation Using Skin
分散型触覚センサ（皮膚）のみを用い、補間技術でセンサ間の隙間を補うことで外部接触力と関節トルクを推定する手法を提案し、iCubヒューマノイドで検証した。
著者: Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci
分類: cs.RO
原文アブストラクト
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.
