Contact Surface Estimation via Haptic Perception
Hsiu-Chin Lin,Michael Mistry,Hsiu-Chin Lin,Michael Mistry
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain, but the accuracy of the vision system degrades in harsh weather, and it cannot visualize the terrain if it is covered with water or grass. Also, the degree of fri...
