Contact Localization for Robot Arms in Motion without Torque Sensing
Jacky Liang Oliver Kroemer Jacky Liang Oliver Kroemer
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or easily accessible. As such, prior works have explored using proprioceptive observations, such as joint velocities and torques, to perform contact localization. Many...