Exploiting global force torque measurements for local compliance estimation in tactile arrays | IEEE Conference Publication | IEEE Xplore

Exploiting global force torque measurements for local compliance estimation in tactile arrays

Publisher: IEEE

Abstract:

In this paper we tackle the problem of estimating the local compliance of tactile arrays exploiting global measurements from a single force and torque sensor. The propose...View more

Abstract:

In this paper we tackle the problem of estimating the local compliance of tactile arrays exploiting global measurements from a single force and torque sensor. The proposed procedure exploits a transformation matrix (describing the relative position between the local tactile elements and the global force/torque measurements) to define a linear regression problem on the unknown local stiffness. Experiments have been conducted on the foot of the iCub robot, sensorized with a single force/torque sensor and a tactile array of 250 tactile elements (taxels) on the foot sole. Results show that a simple calibration procedure can be employed to estimate the stiffness parameters of virtual springs over a tactile array and to use these model to predict normal forces exerted on the array based only on the tactile feedback. Leveraging on previous works [1] the proposed procedure does not necessarily need a-priori information on the transformation matrix of the taxels which can be directly estimated from available measurements.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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ISSN Information:

Publisher: IEEE
Conference Location: Chicago, IL, USA

References

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