Contact Localization using Velocity Constraints
Sean Wang,Ankit Bhatia,Matthew T. Mason,Aaron M. Johnson,Sean Wang,Ankit Bhatia,Matthew T. Mason,Aaron M. Johnson
Localizing contacts and collisions is an important aspect of failure detection and recovery for robots and can aid perception and exploration of the environment. Contrary to state-of-the-art methods that rely on forces and torques measured on the robot, this paper proposes a kinematic method for proprioceptive contact localization on compliant robots using velocity measurements. The method is vali...
