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RSS FeedsSensors, Vol. 19, Pages 814: Contact Modelling and Tactile Data Processing for Robot Skins (Sensors)

 
 

18 february 2019 23:01:24

 
Sensors, Vol. 19, Pages 814: Contact Modelling and Tactile Data Processing for Robot Skins (Sensors)
 


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 the algorithms’ performance using a freely available dataset and data originating from surfaces provided with robot skin.


 
73 viewsCategory: Chemistry, Physics
 
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