English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Typical contact detection is based on the monitoring of a threshold value inthe force and torque signals. The selection of a threshold is challenging forrobots operating in unstructured or highly dynamic environments, such in ahousehold setting, due to the variability of the characteristics of the objectsthat might be encountered. We propose a multimodal contact detection approachusing time and frequency domain features which model the distinctivecharacteristics of contact events in the auditory and haptic modalities. In ourapproach the monitoring of force and torque thresholds is not necessary asdetection is based on the characteristics of force and torque signals in thefrequency domain together with the impact sound generated by the manipulationtask. We evaluated our approach with a typical glass placing task in ahousehold setting. Our experimental results show that robust contact detection(99.94% mean cross-validation accuracy) is possible independent of force/torquethreshold values and suitable of being implemented for operation in highlydynamic scenarios.

Multimodal Contact Detection using Auditory and Force Features for Reliable Object Placing in Household Environments