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This paper addresses the localization of contacts of an unknown grasped rigidobject with its environment, i.e., extrinsic to the robot.  We explore the key role that distributed tactile sensing plays in localizingcontacts external to the robot, in contrast to the role that aggregatedforce/torque measurements play in localizing contacts on the robot. When incontact with the environment, an object will move in accordance with thekinematic and possibly frictional constraints imposed by that contact. Smallmotions of the object, which are observable with tactile sensors, indirectlyencode those constraints and the geometry that defines them.  We formulate the extrinsic contact sensing problem as a constraint-basedestimation. The estimation is subject to the kinematic constraints imposed bythe tactile measurements of object motion, as well as the kinematic (e.g.,non-penetration) and possibly frictional (e.g., sticking) constraints imposedby rigid-body mechanics.  We validate the approach in simulation and with real experiments on the casestudies of fixed point and line contacts.  This paper discusses the theoretical basis for the value of distributedtactile sensing in contrast to aggregated force/torque measurements. It alsoprovides an estimation framework for localizing environmental contacts withpotential impact in contact-rich manipulation scenarios such as assembling orpacking.

Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements