Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
Michael A. Lin,Emilio Reyes,Jeannette Bohg,Mark R. Cutkosky,Michael A. Lin,Emilio Reyes,Jeannette Bohg,Mark R. Cutkosky
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired sensors that attach to the surface of a robot manipulator to sense its surrounding through light contacts. We obtain a sensor model using a calibration process that...
