Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
Daolin Ma Siyuan Dong Alberto Rodriguez Daolin Ma Siyuan Dong Alberto Rodriguez
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the robot, in contrast to the role that aggregated force/torque measurements traditionally play in localizing contacts on the robot. When in contact with the environ...