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Computer Science > Robotics

arXiv:1809.08211 (cs)
[Submitted on 21 Sep 2018]

Title:Contact modelling and tactile data processing for robot skin

Authors:Wojciech Wasko, Alessandro Albini, Perla Maiolino, Fulvio Mastrogiovanni, Giorgio Cannata
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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 algorithms performance using a freely available dataset and data originating from surfaces provided with robot skin.
Comments: Submitted to Robotics and Autonomous Systems
Subjects: Robotics (cs.RO)
MSC classes: 68T40
Cite as: arXiv:1809.08211 [cs.RO]
  (or arXiv:1809.08211v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1809.08211

Submission history

From: Fulvio Mastrogiovanni [view email]
[v1] Fri, 21 Sep 2018 17:05:34 UTC (8,603 KB)
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Wojciech Wasko
Alessandro Albini
Perla Maiolino
Fulvio Mastrogiovanni
Giorgio Cannata
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