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Contact Modelling and Tactile Data Processing for Robot Skins
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DOI：10.3390/s19040814.png)
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Abstract
En 中文
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.
Keywords:
contact modelling
robot skin
inverse contact problem
Boussinesq-Cerruti
Love
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