Set up three Ros node to collect motorized position, magnetic vector and torque readings in synchronize, moreover format the data for later state estimation.

We here only examine the bending moment, which consists of its magnitude and direction, along with the uniqueness mapping to contact location based on it.

Accordingly, the whole point of this paper is to build an approach to calculate this bending moment and also angular displacement for the whisker from a magnetic sensor.

Build EtherCAT connection from F/T sensor to laptop and acquisite the multi-axis torque data from it. I have no idea what is EtherCAT before, and there’s few materials or tutorials, so let’s try to...

Pre-configuration on single stepper motor and process and control multiple motor via stepper drivers, CNC shield and Grbl simultaneously.

The basic objective of this work is to implement a non-intrusive perception method based on whisker sensor for robot arm, within a unstructured environment.

We have a very clear objective in this log, to understand how the previous mentioned unique mapping from sensor measurements to contact position was achieved.

Create random diagram, format it into torch dataset with labeling and trying to extract information later via transformers DETR. A memory leakage issue was dealing in this note BTW.