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Even though the sense of touch is crucial for humans, most humanoid robots lack tactile sensing. While a large number of sensing technologies exist, it is not trivial to incorporate them into a robot. We have developed a compliant “skin” for humanoids that integrates a distributed pressure sensor based on capacitive technology. The skin is(More)
A novel artificial skin for covering the whole body of a humanoid robot is presented. It provides pressure measurements and shape information about the contact surfaces between the robot and the environment. The system is based on a mesh of sensors interconnected in order to form a networked structure. Each sensor has 12 capacitive taxels, has a triangular(More)
This paper deals with the problem of estimating the position of tactile elements (i.e. taxels) that are mounted on a robot body part. This problem arises with the adoption of tactile systems with a large number of sensors, and it is particularly critical in those cases in which the system is made of flexible material that is deployed on a curved surface. In(More)
This paper describes automated procedures for the design and deployment of artificial skin for humanoid robots. This problem is challenging under different perspectives: on the one hand, different robots are characterized by different shapes, thereby requiring a high degree of skin customization; on the other hand, it is necessary to define optimal criteria(More)
This paper describes an algorithm, which has been specifically designed to solve the problem of multirobot-controlled frequency coverage (MRCFC), in which a team of robots are requested to repeatedly visit a set of predefined locations of the environment according to a specified frequency distribution. The algorithm has low requirements in terms of(More)
— A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a flexible PCB covered by a conductive rubber layer. The force sensor is an off-the-shelf integrated three components micro-joystick. The(More)