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  4. Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics
 
conference paper

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Faraji, Salman  
•
Ijspeert, Auke  
2016
2016 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros 2016)
Intelligent Robots and Systems (IROS)

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and associate them to an unknown external force. Then by decomposing Jacobians, we search over the surface of all body links in the robot to find the force application point. By approximating link geometries with ellipsoids, we can derive analytic solutions to solve the search problem very fast in real time. The proposed approach is tested on a complex humanoid robot in simulations where it outperforms static estimators over fast dynamic motions. We foresee a lot of applications for this method especially in human-robot interactions where it can serve as a whole body virtual suit of tactile sensors. It can also be very useful in identifying the inertial properties of objects being manipulated or mounted on the robot like a backpack.

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Type
conference paper
DOI
10.1109/IROS.2016.7759818
Web of Science ID

WOS:000391921705089

Author(s)
Faraji, Salman  
Ijspeert, Auke  
Date Issued

2016

Publisher

Ieee

Publisher place

New York

Published in
2016 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros 2016)
ISBN of the book

978-1-5090-3762-9

Total of pages

8

Start page

5564

End page

5571

Subjects

inverse dynamics

•

virtual tactile sensor

•

torque sensor

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
Event nameEvent placeEvent date
Intelligent Robots and Systems (IROS)

Daejon, South Korea

October 9-14

Available on Infoscience
July 31, 2016
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/128190
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