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Creators/Authors contains: "Wang, Sean J."

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  1. ; ; ; ; ; ; ; ; ; ; et al (, ACS Sensors)
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  2. ; ; ; (, Proceedings of Dynamic Walking 2020)
    Robots operating in unstructured environments must localize contact to detect and recover from failure. For example, Fig. 1 shows a Minitaur robot that must localize where it has unexpectedly contacted the stair’s edge so that it can properly step over it. We propose a kinematic method for proprioceptive contact localization using velocity measurements. The method is validated on two planar robots, the quadrupedal Minitaur and the DD Hand gripper, and compared to other state of the art proprioceptive methods. We further show that the method can be extended to spatial robots by fusing the candidate contact points over time with a particle filter. 
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    Accepted Manuscript Full Text Available