Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors: A Study for the Implementation of Active Compliance on the iCub Humanoid Robot (Springer Theses)

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This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction regulate of the iCub humanoid robot. The method is in keeping with the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a great deal of sensor information to create their own representations of the surrounding environment. Tactile perception is of number one importance for the exploration process. Also in humans, the tactile system is completely functional at birth. In humanoid robotics, the measurements of forces and torques that the robot exchanges with its surroundings are crucial for protected interaction with the environment and with humans. The approach proposed on this thesis can successfully toughen the perceptual capabilities of robots by exploiting just a limited choice of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance regulate of humanoid robots.

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