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Robust manipulation with a dexterous robot hand is a grand challenge of robotics. Impressive levels of dexterity can be achieved through teleoperation. However, teleoperation devices such as a glove or force reflecting master-slave system can be expensive and can tie the robot down to a restricted workspace. We observe that inexpensive and widely available multi-touch interfaces can achieve excellent...
Manipulators with compliant actuation exhibit passive joint displacements when exposed to external forces or collisions. This paper demonstrates that this displacement information is sufficient to infer a coarse estimate of the location of an incidental collision. Three techniques for contact point detection are compared: a closed-form inference model based on a serial chain with joint springs, a...
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