Contact Modelling and Tactile Data Processing for Robot Skins.

07:00 EST 16th February 2019 | BioPortfolio

Summary of "Contact Modelling and Tactile Data Processing for Robot Skins."

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.


Journal Details

This article was published in the following journal.

Name: Sensors (Basel, Switzerland)
ISSN: 1424-8220


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