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Perceiving the environment through touch is important for robots to reach incluttered environments, but devising a way to sense without disturbing objectsis challenging. This work presents the design and modelling of whisker-inspiredsensors that attach to the surface of a robot manipulator to sense itssurrounding through light contacts. We obtain a sensor model using acalibration process that applies to straight and curved whiskers. We thenpropose a sensing algorithm using Bayesian filtering to localize contactpoints. The algorithm combines the accurate proprioceptive sensing of the robotand sensor readings from the deflections of the whiskers. Our results show thatour algorithm is able to track contact points with sub-millimeter accuracy,outperforming a baseline method. Finally, we demonstrate our sensor andperception method in a real-world system where a robot moves in betweenfree-standing objects and uses the whisker sensors to track contacts tracingobject contours.

Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators