Force Modality

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Dataset of contact forces and positions: A robot with a capacitive forearm skin pushing against objects

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This dataset contains contact force and position data from a set of eighteen different objects using a force-sensitive skin that was attached to the robot Cody.  More details here.

Link to dataset.

Here is a link to the associated paper.


Dataset of contact forces and positions: A robot with a capacitive forearm skin reaching in a cluttered environment

For this dataset, we used the robot Cody to reach into an artificially configured cluttered foliage environment. Cody had a force-sensitive skin across its forearm as well as a wedged shaped end effector with fabric-based tactile sensors mounted on to it. More details here.

Link to dataset.

Here is a link to the associated paper.                                                                                        


Dataset of contact forces and positions: A robot with a stretchable resistive tactile sleeve reaching in a cluttered environment

For this dataset, we used the robot DARCI to reach into an artificially configured cluttered foliage environment. DARCI had a stretchable and flexible resistive tactile sleeve across its forearm and wrist. More details here.

Link to dataset.

Here is a link to the associated paper.