TY - JOUR
T1 - A Comprehensive Realization of Robot Skin
T2 - Sensors, Sensing, Control, and Applications
AU - Cheng, Gordon
AU - Dean-Leon, Emmanuel
AU - Bergner, Florian
AU - Olvera, Julio Rogelio Guadarrama
AU - Leboutet, Quentin
AU - Mittendorfer, Philipp
N1 - Publisher Copyright:
© 1963-2012 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - This article presents a holistic approach to the engineering of an artificial robot skin for robots. An example of a multimodal skin cell is given, one that supports multiple human-like sensing modalities, and support for skin cell network is also provided; this is essential to form large-area skin patches in order to cover the surfaces of robots. The essential elements of efficiently handling a large amount of tactile data are explained. A general control framework, which supports robots commanded in position, velocity, and torque, is provided and validated. Several applications of this robot skin will be presented, demonstrating the effectiveness and efficiency of our artificial robot skin to support a wide number of robotic platforms as well as its ease of use across different domains.
AB - This article presents a holistic approach to the engineering of an artificial robot skin for robots. An example of a multimodal skin cell is given, one that supports multiple human-like sensing modalities, and support for skin cell network is also provided; this is essential to form large-area skin patches in order to cover the surfaces of robots. The essential elements of efficiently handling a large amount of tactile data are explained. A general control framework, which supports robots commanded in position, velocity, and torque, is provided and validated. Several applications of this robot skin will be presented, demonstrating the effectiveness and efficiency of our artificial robot skin to support a wide number of robotic platforms as well as its ease of use across different domains.
KW - Artificial robot skin
KW - robot skin interactions
KW - skin-based robot control
UR - http://www.scopus.com/inward/record.url?scp=85073756737&partnerID=8YFLogxK
U2 - 10.1109/JPROC.2019.2933348
DO - 10.1109/JPROC.2019.2933348
M3 - Article
AN - SCOPUS:85073756737
SN - 0018-9219
VL - 107
SP - 2034
EP - 2051
JO - Proceedings of the IEEE
JF - Proceedings of the IEEE
IS - 10
M1 - 8812712
ER -