11 accepted papers
Multiple approaches to the estimation of high-order motion derivatives for innovative control applications now rely on the data collected by redundant arrays of inertial sensors mounted on robots, with promising results. However, most of these works suffer scalability issues induced by the considera
In this work, we propose a new estimation method for second-order kinematics for floating-base robots, based on highly redundant distributed inertial feedback. The linear acceleration of each robot link is measured at multiple points using a multimodal, self-configuring and self-calibrating artifici…
This letter evaluates and describes the large-scale integration of our multi-modal event-driven robot skin system on our humanoid robot H1 (REEM-C, PAL robotics). The robot skin is powered by the robot and all processing of tactile perception and control are executed onboard the robot. The robot ski
Skin can provide rich multi-modal contact information about the interaction forces of a robot with its environment. With this new way of sensing, a new generation of compliant controllers can be developed to enable different kinds of interactions. In this letter, a pressure-driven compliance control
Humanoid robots are expected to interact in human environments, where physical interactions are unavoidable. Therefore, whole-body control methods that include multi-contact interactions are required. The new emerging technologies in touch sensing are fundamental to acquire online and rich informati…
Artificial robotic skins are continuously in contact with their environment, and therefore highly rely on proper connections in their skin cells' network. With a static network protocol approach, the affected skin area is unusable after a connection failure. Therefore, we developed a dynamic network…
The realization of a kinesthetic robot behavior using robot skin requires a reactive skin torque controller, which fuses skin information and robot information to an appropriate skin joint torque in real-time. This fusion of information in real-time is challenging when deploying large scale skin. In…
In this work we present a novel efficient event-driven reactive skin controller for large scale robot skin. The novel event-driven controller derives from a standard Jacobian torque controller and fully takes advantage of our multi-modal event-driven robot skin. Event-driven systems only sample, tra…
In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms…
In this paper we describe how we realized event-based signaling for large scale artificial robotic skin. We developed a new algorithm for the event generation on multi-modal skin cells. The skin cells have two modes, the conventional data sampling mode and the event mode. A comprehensive performance…
In this paper we propose event-based signaling for large-scale artificial robotic skin to reduce bandwidth requirements on data transmission and processing power. We use the send-on-delta principle to trigger the event generation only when tactile sensors are stimulated and transduce novel informati…