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.
Argall and Aude G
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
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.