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Contact Modelling and Tactile Data Processing for Robot Skins.

ABSTRACT: 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.

SUBMITTER: Wasko W

PROVIDER: S-EPMC6412471 | biostudies-literature | 2019 Feb

REPOSITORIES: biostudies-literature

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Contact Modelling and Tactile Data Processing for Robot Skins.

Wasko Wojciech W Albini Alessandro A Maiolino Perla P Mastrogiovanni Fulvio F Cannata Giorgio G

Sensors (Basel, Switzerland) 20190216 4

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 quali ...[more]

PMID: 30781527

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