Multi-Contact Point Localization and Force Identification
Multi-Contact Point Localization and Force Identification
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Collaborative robots, which are becoming more and more popular nowadays, are designed to share a workspace with humans. Consequently, safe physical interaction under a collision or a contact has become an important research topic. To further understand and treat the physical interaction properly, there have been attempts to estimate contact location and force simultaneously.
We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The proposed method has the following advantages. First, fast computation is achieved by proper preprocessing of robot meshes. Second, multi-contact can be identified with the aid of the base F/T sensor, while this is challenging when the robot is equipped with only JTSs. The proposed method is a modification of the standard particle filter to cope with mesh preprocessing and with available sensor data.
Contact : Seo Wook Han (seowook.han@kaist.ac.kr)
Open position
Open position
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Videos & Images
Videos & Images
Attached video
ICRA2023 presentation video
The proposed algorithm MCP-EP tackles the problem of multi-contact point estimation
(Estimate 𝒓_(𝑐,𝑖) and 𝑭_(𝑒𝑥𝑡,𝑖) ).
MCP-EP utilizes proprioceptive sensors such as joint torque sensor (JTS) and base F/T sensor
Localization process with 'exploeration particles'
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