Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot

  • Matteo Fumagalli

Part of the Springer Theses book series (Springer Theses)

Table of contents

  1. Front Matter
    Pages i-xix
  2. Increasing Perceptual Skills of Robots Through Proximal FTSs

    1. Front Matter
      Pages 1-1
    2. Matteo Fumagalli
      Pages 13-25
    3. Matteo Fumagalli
      Pages 27-45
    4. Matteo Fumagalli
      Pages 67-84
    5. Matteo Fumagalli
      Pages 85-100
  3. Back Matter
    Pages 101-105

About this book


This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create their own representations of the surrounding environment. Tactile perception is of primary 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 essential for safe interaction with the environment and with humans. The approach proposed in this thesis can successfully enhance the perceptual capabilities of robots by exploiting only a limited number of both localized and distributed sensors, providing a feasible and convenient solution for achieving active compliance control of humanoid robots.



Distributed tactile sensors Force Perception Human Robot Interaction Humanoid robots Interaction control Multi-Body System Dynamics iCub robot

Authors and affiliations

  • Matteo Fumagalli
    • 1
  1. 1.Robotics and MechatronicsUniversity of TwenteEnschedeThe Netherlands

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-01121-9
  • Online ISBN 978-3-319-01122-6
  • Series Print ISSN 2190-5053
  • Series Online ISSN 2190-5061
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