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contact force sensing

asked 2012-11-27 11:00:43 -0500

mkillpack gravatar image

It seems that there is a bump/force sensor that works for contact on a link. However, does this scale or is there another implemented sensor that would allow me to get contact forces all over a robot arm? Essentially, I'd like to simulate tactile sensing. I have implemented and used something similar in ODE directly, but wondered if the contact joint API was exposed in Gazebo. Or if it would be possible to write a plugin to do get the forces. Any help would be much appreciated as I'd really rather use Gazebo.

thanks.

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answered 2012-11-27 11:12:32 -0500

nkoenig gravatar image

You should use a ContactSensor. Attach the sensor to a link, and it will report all the contacts on that link. This includes each contact's position, normal, depth, and forces.

Note: Some parts of the contact sensor will only work with the upcoming Gazebo 1.3 release.

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Asked: 2012-11-27 11:00:43 -0500

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Last updated: Nov 27 '12