Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation
Lindsay Epstein,Andrew SaLoutos,Donghyun Kim,Sangbae Kim,Lindsay Epstein,Andrew SaLoutos,Donghyun Kim,Sangbae Kim
The ability to measure multi-axis contact forces and contact surface normals in real time is critical to allow robots to improve their dexterous manipulation and locomotion abilities. This paper presents a new fingertip sensor for 3-axis contact force and contact location detection, as well as improvements on an existing footpad sensor through use of a new artificial neural network estimator. The ...
