Segmentation and Interpretation of Temporal Contact Signals
نویسندگان
چکیده
| The temporal structure of the force, or strain, signals from an internal force-torque sensor can be a rich source of information about robot/environment contact conditions. We present a procedure for representing and segmenting the individual signals with an auto-regressive model. This procedure produces segments of approximately constant spectrum, and is a powerful technique for detecting abrupt changes in noisy signals without prior calibration.
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