Multi-Contact Localization and Force Identification
Proprioceptive estimation of multiple contact locations and forces on robot arms.
Proprioceptive estimation of multiple contact locations and forces on robot arms.
Overview
Safe physical interaction requires a robot to identify where contact occurs and how much force is applied. This project estimates multiple contact locations and forces using joint torque sensors together with a force and torque sensor at the robot base.
Robot mesh preprocessing supports fast computation, while a modified particle filter uses the additional base sensor information to distinguish multiple simultaneous contacts. The method was validated on a collaborative robot arm.
Video
Publication
S. W. Han and M. J. Kim, “Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms,” IEEE ICRA, 2023. arXiv · IEEE