A six-microphone array on a robot arm, combined with a learned audio and motion model, localizes contact points on the arm to within 0.4 to 2.2 cm, including on novel objects and human strikes.
Active acoustic contact sensing for soft pneumatic actuators,
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SonicBoom: Contact Localization Using Array of Microphones
A six-microphone array on a robot arm, combined with a learned audio and motion model, localizes contact points on the arm to within 0.4 to 2.2 cm, including on novel objects and human strikes.