Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification
Jonathan Vorndamme,Sami Haddadin,Jonathan Vorndamme,Sami Haddadin
Humanoid robots in unknown environments need to be able to quickly react to contacts in order to ensure safety of humans and their own hardware. For showing useful reactions to contacts, the robot needs information about possibly multiple contacts such as their respective contact locations and wrenches. In this paper, we introduce our algorithm rm-Code, a real-time multi-contact detection, isolati...
