Contact Force and Joint Torque Estimation Using Skin
Contact Force and Joint Torque Estimation Using Skin
复制标题
使用皮肤估计接触力和关节扭矩
DOI：
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发表时间：
2017
影响因子：
5.2
通讯作者：
D. Pucci
中科院分区：
文献类型：
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作者：
Francisco Javier Andrade Chavez;Joan Kangro;Silvio Traversaro;F. Nori;D. Pucci
在这封信中，我们提出了使用皮肤来估计接触位置，外力和关节扭矩的算法，即分布式触觉传感器，运动学传感器和单个惯性测量单元（IMU），而不需要力-扭矩传感器。分布式触觉传感器是一组离散的触觉传感器，它们之间有间隙。为了处理这些间隙，我们使用插值技术来提高皮肤测量的准确性。然后，我们估计外力。最后，我们将这些信息与从皮肤获得的接触位置相结合来估计关节扭矩。使用iCub人形机器人进行验证。结果表明，该方法的性能可与使用昂贵的力-扭矩传感器的关节扭矩估计相媲美。由于皮肤更便宜，不需要修改机器人的内部结构，使用皮肤是一个有趣的解决方案。
In this letter, we present algorithms to estimate contact locations, external forces, and joint torques using skin, i.e., distributed tactile sensors, kinematic sensors, and a single Inertial Measurement Unit (IMU) without the need for force-torque sensors. Distributed tactile sensors are an array of discrete tactile sensors (taxels) with gaps between them. To cope with the gaps, we use interpolation techniques to improve accuracy of the measurements in the skin. Then, we estimate the external force. Finally, we use this information combined with the contact location obtained from the skin to estimate the joint torques. Validation was performed using the iCub humanoid robot. Results show a performance comparable to the joint torque estimation using expensive force-torque sensors. Since the skin is less expensive and does not require modification of the internal structure of the robot, using the skin is an interesting solution.