/syntouchcontact

This package publish the contact points and the contact force using BioTac

Primary LanguageC++

syntouchcontact

This package publish the contact points and the contact forces using BioTac

Dependence: syntouchpublisher

To run: roslaunch syntouchcontact syntouchcontact.launch

Contact points estimation

Coordinates

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approach

  • We use the weighted average to estimate the contact points and the accuracy is around 3mm

Contact forces estimation

  • We use Gaussian Mixture Model (GMM) to estimate the contact forces (3-dimensional) and the normal contact force accuracy is around 0.1N and the tangential force accuracy is around 0.3N.