A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Abderrahmane Kheddar 1, 2 Aude Billard 3
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 LASA: Learning Algorithms and Systems Laboratory
EPFL - Ecole Polytechnique Fédérale de Lausanne
Abstract : We propose a solution for whole-body humanoid haptic sensing and safe interaction that is based on combining layered three-level modules. The inner module (closest to the link) consists in a bumper attached to the link through few force pressure units mounted in a way to measure the external wrench acting on the link. The second module, covering the bumper, consists of a thin matrix of different pressure tactile units, which main role is to detect contact locations and secondarily contact pressure distributions. The third module, covering the previous one, being a compliant foam which main role is to ensure safe interaction and robust contact formation. This paper focuses on the tactile matrix concept and its realization, the obtained results are reported.
Type de document :
Communication dans un congrès
ROBIO'11: International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. IEEE, pp.1433-1438, 2011, 〈http://www.ieee-robio.org/2011/〉. 〈10.1109/ROBIO.2011.6181491〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781537
Contributeur : François Keith <>
Soumis le : dimanche 27 janvier 2013 - 18:35:54
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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Abderrahmane Kheddar, Aude Billard. A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction. ROBIO'11: International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. IEEE, pp.1433-1438, 2011, 〈http://www.ieee-robio.org/2011/〉. 〈10.1109/ROBIO.2011.6181491〉. 〈lirmm-00781537〉

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