ロボットスキンの接触モデリングと触覚データ処理
Contact modelling and tactile data processing for robot skin
大規模静電容量型ロボットスキンを用い、接触位置推定のための逆問題解法（Boussinesq-CerrutiとLove）を計算性能の観点から比較評価した論文。
著者: Wojciech Wasko, Alessandro Albini, Perla Maiolino, Fulvio Mastrogiovanni, Giorgio Cannata
分類: cs.RO
原文アブストラクト
Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about contact events. Considering a large-scale, capacitance-based robot skin technology we developed in the past few years, we analyse the classical Boussinesq-Cerruti's solution and the Love's approach for solving a distributed inverse contact problem, both from a qualitative and a computational perspective. Our contribution is the characterisation of algorithms performance using a freely available dataset and data originating from surfaces provided with robot skin.
