Low-Cost Fiducial-based 6-Axis Force-Torque Sensor
Rui Ouyang,Robert Howe,Rui Ouyang,Robert Howe
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-touse. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be fabricated using a consumer-grade 3D printer. Open-source software is used to estimate the 3D pose of the fiducials on the sensor, which is then used to calculate ...
