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Localizing external contact using proprioceptive sensors: The Contact Particle Filter

Author(s)
Manuelli, Lucas; Tedrake, Russell Louis
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Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
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Abstract
In order for robots to interact safely and intelligently with their environment they must be able to reliably estimate and localize external contacts. This paper introduces CPF, the Contact Particle Filter, which is a general algorithm for detecting and localizing external contacts on rigid body robots without the need for external sensing. CPF finds external contact points that best explain the observed external joint torque, and returns sensible estimates even when the external torque measurement is corrupted with noise. We demonstrate the capability of the CPF to track multiple external contacts on a simulated Atlas robot, and compare our work to existing approaches. Keywords: Robot sensing systems; Collision avoidance; Legged locomotion; Torque; Observers
Date issued
2016-12
URI
https://hdl.handle.net/1721.1/130471
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Journal
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Manuelli, Lucas and Tedrake, Russ. "Localizing external contact using proprioceptive sensors: The Contact Particle Filter." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016, Daejeon, South Korea, Institute of Electrical and Electronics Engineers (IEEE), 2016. © 2016 IEEE
Version: Author's final manuscript
ISBN
9781509037629
ISSN
2153-0866

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