Contact Surface Estimation via Haptic Perception

03/04/2020
by   Hsiu-Chin Lin, et al.
0

Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain, but the accuracy of the vision system degrades in harsh weather, and it cannot visualize the terrain if it is covered with water or grass. Also, the degree of friction cannot be directly visualized. In this paper, we propose an online method to estimate the surface information via haptic exploration. We also introduce a probabilistic criterion to measure the quality of the estimation. The method is validated on both simulation and a real robot platform.

READ FULL TEXT

page 1

page 3

page 4

page 5

page 6

research
06/22/2019

Effective Estimation of Contact Force and Torque for Vision-based Tactile Sensor with Helmholtz-Hodge Decomposition

Retrieving rich contact information from robotic tactile sensing has bee...
research
02/13/2022

Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution

The importance of force perception in interacting with the environment w...
research
12/16/2022

Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch

Reliably planning fingertip grasps for multi-fingered hands lies as a ke...
research
05/18/2023

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

In this paper we consider the problem of allowing a humanoid robot that ...
research
06/14/2017

SideEye: A Generative Neural Network Based Simulator of Human Peripheral Vision

Foveal vision makes up less than 1 peripheral vision. Precisely what hum...
research
04/25/2019

A pressure field model for fast, robust approximation of net contact force and moment between nominally rigid objects

We introduce an approximate model for predicting the net contact wrench ...
research
02/17/2022

Predict the Rover Mobility over Soft Terrain using Articulated Wheeled Bevameter

Robot mobility is critical for mission success, especially in soft or de...

Please sign up or login with your details

Forgot password? Click here to reset