Inferring Object Properties with a Tactile-Sensing Array Given Varying Joint Stiffness and Velocity
Inferring Object Properties with a Tactile-Sensing Array Given Varying Joint Stiffness and Velocity
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects from contact with its forearm during a simple reaching motion. A key issue is the …