Tutorial on the perceptiveModels library

Example module for the use of perceptiveModels library.

Example module for the use of perceptiveModels library.

Author: Ugo Pattacini

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

This simple module gives a very brief introduction to the use of perceptiveModels framework for the case of detection of contacts of the fingers with external objects.

Two types of models are envisaged:

1. the springy approach that learns the relations between the motor joints and the distal fingers joints to detect discrepancies caused by external contacts;
2. a direct approach that relies on the output of tactile sensors.

The output of this module is printed out on the screen reporting the data as gathered from the sensors as well as a synthetic number which accounts for the contact detection: the larger it becomes, the stronger should be the force excerted by the external object.

Libraries

• YARP libraries.
• perceptiveModels library.

Parameters

–name name

• specify the module name, which is percex by default.

–robot robot

• specify the robot name (e.g. icub or icubSim).

–hand hand

• specify which hand has to be used: hand can be left or right (by default).

–model type

• specify the type of perceptive model to be employed for sensing external contacts; possible choices are: springy and tactile. In case the springy model is used, a preliminary calibration phase is carried out.

–finger finger

• specify the finger to be used; possible choices are: thumb, index, middle, ring and little.

Tested OS

Windows, Linux

Author

Ugo Pattacini