Force feedback exploiting tactile and proximal force/torque sensing: Theory and implementation on the humanoid robot iCub

Matteo Fumagalli, Serena Ivaldi*, Marco Randazzo, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

65 Citations (Scopus)

Abstract

The paper addresses the problem of measuring whole-body dynamics for a multiple-branch kinematic chain in presence of unknown external wrenches. The main result of the paper is to give a methodology for computing whole body dynamics by aligning a model of the system dynamics with the measurements coming from the available sensors. Three primary sources of information are exploited: (1) embedded force/torque sensors, (2) embedded inertial sensors, (3) distributed tactile sensors (i.e. artificial skin). In order to cope with external wrenches applied at continuously changing locations, we model the kinematic chain with a graph which dynamically adapts to the contact locations. Classical pre-order and post-order traversals of this dynamically evolving graph allow computing whole-body dynamics and estimate external wrenches. Theoretical results have been implemented in an open-source software library (iDyn) released under the iCub project. Experimental results on the iCub humanoid robot show the effectiveness of the proposed approach.

Original languageEnglish
JournalAutonomous Robots
Volume33
Issue number4
Pages (from-to)381-398
Number of pages18
ISSN0929-5593
DOIs
Publication statusPublished - Nov 2012

Keywords

  • Active force control
  • Multi-body dynamics
  • Proximal sensing

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