Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction.

ABSTRACT: Recent developments in robotics have enabled humanoid robots to be used in tasks where they have to physically interact with humans, including robot-supported caregiving. This interaction-referred to as physical human-robot interaction (pHRI)-requires physical contact between the robot and the human body; one way to improve this is to use efficient sensing methods for the physical contact. In this paper, we use a flexible tactile sensing array and integrate it as a tactile skin for the humanoid robot HRP-4C. As the sensor can take any shape due to its flexible property, a particular focus is given on its spatial calibration, i.e., the determination of the locations of the sensor cells and their normals when attached to the robot. For this purpose, a novel method of spatial calibration usin

SUBMITTER: Chefchaouni Moussaoui S 

PROVIDER: S-EPMC10181520 | biostudies-literature | 2023 May

REPOSITORIES: biostudies-literature