2020
Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors
RA-L 2020
Modeling deformable contact is a well-known problem in soft robotics and is particularly challenging for compliant interfaces that permit large deformations. We present a model for the behavior of a highly deformable dense geometry sensor in its interaction with objects; the forward model predicts t