Contact Detection
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Benchmarks
BEHAVE
Most implemented
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
DECO: Dense Estimation of 3D Human-Scene Contact In The Wild
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis
Capturing and Inferring Dense Full-Body Human-Scene Contact
Learning Dense Hand Contact Estimation from Imbalanced Data
Papers
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3…
Domain GeneralizationContact DetectionA Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strateg…
Contact DetectionLearning Contact Representation for Leg Odometry
The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the …
Representation LearningContact DetectionTactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprio…
Contact DetectionOCELOT: Odometry and Contact Estimation for Legged Robots
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pipeline based on an Error-State EKF (ESEKF…
Contact DetectionImproving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of…
Contact Detection