Contact Sensing from Force Measurements
This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of internal force and torque measurements, this method allows for p...
Main Authors: | Bicchi, Antonio, Salisbury, J. Kenneth, Brock, David L. |
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Language: | en_US |
Published: |
2004
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Subjects: | |
Online Access: | http://hdl.handle.net/1721.1/5996 |
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