用关节扭矩传感器实现足式机器人触觉感知，精度高且成本低。
Contact Sensing via Joint Torque Sensors and a Force/Torque Sensor for Legged Robots
- 结合关节扭矩与髋部力矩传感器，通过动量观测框架检测接触点。
- 实测定位误差小于1厘米，力测量误差低于0.2N，精度达96.4%。
- 低成本应变片传感器可部署于所有关节，适合实际机器人应用。
本文提出一种基于广义动量观测框架的方法，利用分布式关节扭矩传感器和单个安装在髋部的力/力矩（FT）传感器，实现对足式机器人腿部接触的检测与定位。设计了一种低成本应变片式关节扭矩传感器，可安装于每个关节，直接获取扭矩数据，避免复杂摩擦模型，且精度高于基于电机电流的估计。在浮地2自由度机器人腿的仿真中验证了该框架能准确恢复大腿和小腿上的接触力及位置。通过标定，扭矩传感器平均相对真实值精度达96.4%。基于该传感器，在2-DoF机械臂上开展硬件实验，实现了亚厘米级接触定位精度，力测量误差低于0.2 N。
原文摘要 · Abstract (English)
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a low-cost strain-gauge-based joint torque sensor that can be installed on every joint to provide direct torque measurements, eliminating the need for complex friction models and providing more accurate torque readings than estimation based on motor current. Simulation studies on a floating-based 2-DoF robot leg verified that the proposed framework accurately recovers contact force and location along the thigh and shin links. Through a calibration procedure, our torque sensor achieved an average 96.4% accuracy relative to ground truth measurements. Building upon the torque sensor, we performed hardware experiments on a 2-DoF manipulator, which showed sub-centimeter contact localization accuracy and force errors below 0.2 N.
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