Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations
Tao Pang Jack Umenberger Russ Tedrake Tao Pang Jack Umenberger Russ Tedrake
The ability to detect and estimate external contacts is essential for robot arms to operate in unstructured environments occupied by humans. However, most robot arms are not equipped with adequate sensors to detect contacts on their entire body. What many robot arms do have is torque sensors for individual joints. Through a quantitative analysis, we argue that it is fairly likely for two distinct ...