Publication

A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors

Auke Ijspeert
2016
Posters

Abstract

In this article, we propose a multi-staged algorithm to detect the magnitude, direction and location of a single external force applied to a humanoid robot while performing dynamic tasks. We use contact force and joint torque sensors as well as IMU to estimate accelerations and build the equation of motion. Then using a search process and based on Jacobian decomposition, we analytically find the point on the whole body which can best account for the error observed in the equation of motion. The method can provide reasonably stable and consistent estimations, even during fast dynamic motions.

Official source

https://infoscience.epfl.ch/entities/publication/96758492-11a7-46da-bf7d-aa1540b97408

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Auke Ijspeert
2016
Posters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/96758492-11a7-46da-bf7d-aa1540b97408

About this result

Related concepts (32)

Humanoid robot

A humanoid robot is a robot resembling the human body in shape. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some humanoid robots may replicate only part of the body, for example, from the waist up. Some humanoid robots also have heads designed to replicate human facial features such as eyes and mouths.

Humanoid

A humanoid (ˈhjuːmənɔɪd; from English human and -oid "resembling") is a non-human entity with human form or characteristics. The earliest recorded use of the term, in 1870, referred to indigenous peoples in areas colonized by Europeans. By the 20th century, the term came to describe fossils which were morphologically similar, but not identical, to those of the human skeleton. Although this usage was common in the sciences for much of the 20th century, it is now considered rare.

Android (robot)

An android is a humanoid robot or other artificial being often made from a flesh-like material. Historically, androids were completely within the domain of science fiction and frequently seen in film and television, but advances in robot technology now allow the design of functional and realistic humanoid robots. The Oxford English Dictionary traces the earliest use (as "Androides") to Ephraim Chambers' 1728 Cyclopaedia, in reference to an automaton that St. Albertus Magnus allegedly created.

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A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors

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