An elastic model of the distal joints of the robot's fingers that enables to perceive contacts with external forces. More...
Collaboration diagram for springyFingers:
Classes | |
| class | iCub::perception::SpringyFinger |
| An implementation of the Node class that represents the springy finger. More... | |
| class | iCub::perception::SpringyFingersModel |
| A class that provides the user with a suitable framework to deal with the elastic approach for the problem of detecting contacts of fingers with external forces. More... | |
Detailed Description
An elastic model of the distal joints of the robot's fingers that enables to perceive contacts with external forces.
CopyPolicy: Released under the terms of the GNU GPL v2.0.
Description
Essentially, this framework attemps to model the elastic properties of the distal joints of the fingers by carrying out a calibration stage where the fingers are left free to move in the space while acquiring sensors data. As result, the "springy" relations between the data acquired from motor joint encoders and the distal joints encoders are learnt relying on a Least-Squares SVM machine from the Learning Machine library. Finally, the model output consists of the metric distance between the vector of distal joints readings as currently acquired and the vector of quantities predicted by the machine.
This method represents a natural extension of the linear technique proposed in the paper: Design, Realization and Sensorization of the Dextrous iCub Hand.
