New video online on "Pressure-Driven Body Compliance Using Robot Skin"


This video shows a pressure-driven compliance controller to generate virtual compliant forces depending on both external contact forces and their area of contact. The proposed controller can be adapted for any skin technology that provides a spatial distribution of force sensors over the surface of a robot and the geometry of the contact areas. It is part of the paper "Pressure-Driven Body Compliance Using Robot Skin".

J. R. Guadarrama-Olvera, E. Dean-Leon, F. Bergner and G. Cheng, "Pressure-Driven Body Compliance Using Robot Skin," in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4418-4423, Oct. 2019, doi: 10.1109/LRA.2019.2928214.