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Paper TuD04.2

Backus, Spencer (Yale University), Dollar, Aaron (Yale University)

Robust, Inexpensive Resonant Frequency Based Contact Detection for Robotic Manipulators

Scheduled for presentation during the Regular Session "Force, Torque and Contacts in Grasping and Assembly" (TuD04), Tuesday, May 15, 2012, 16:45−17:00, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Multifingered Hands, Underactuated Robots, Force and Tactile Sensing

Abstract

This paper presents a method for detecting contact on a compliant link utilizing a method to sense changes in the resonant frequency of the link due to external contact. The approach uses an inexpensive accelerometer mounted on or inside the compliant link and a phase locked loop circuit to oscillate the link at its resonant frequency. Using this approach, we are able to reliably sense contact anywhere on the link with a contact force threshold sensitivity of between 0.05 and 0.15 N depending on the contact location.

 

 

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