A neural network trained on real joint torque and position data localizes touches on a robot's body, reaching 7.2 cm average error on Spot and 8.0 cm on Franka without tactile sensors.
In Paul McGreevy, editor, Equine Behavior , pages 151--163
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UniTac: Whole-Robot Touch Sensing Without Tactile Sensors
A neural network trained on real joint torque and position data localizes touches on a robot's body, reaching 7.2 cm average error on Spot and 8.0 cm on Franka without tactile sensors.