Acoustic Collision Detection and Localization for Robot Manipulators
Xiaoran Fan,Daewon Lee,Yuan Chen,Colin Prepscius,Volkan Isler,Larry Jackel,H. Sebastian Seung,Daniel Lee,Xiaoran Fan,Daewon Lee,Yuan Chen,Colin Prepscius,Volkan Isler,Larry Jackel,H. Sebastian Seung,Daniel Lee
Collision detection is critical for safe robot operation in the presence of humans. Acoustic information originating from collisions between robots and objects provides opportunities for fast collision detection and localization; however, audio information from microphones on robot manipulators needs to be robustly differentiated from motors and external noise sources. In this paper, we present Pa...
