Abstract
An improved hybrid homotopy method is proposed to decouple the multi-input model of tactile sensors. The time-embedded homotopy algorithm is proved to be very suitable for solving the problem. Three tracking factors that control the efficiency of the algorithm are studied: tracking operator, stepsize, and accuracy. Trust region methods are applied to track the zero paths instead of the traditional differential algorithm, and a periodic sampling method is proposed to improve the efficiency of the algorithm. Numerical experiments show that both the robustness and accuracy have received a huge boost after the hybrid algorithm is applied.
Highlights
A Tactile Sensor Decoupling ProcessYuyun Xu 1,2,† , Xuekun Zhuang 1,2,† , Guangyu Hu 1,2 , Hongqing Pan 1, * and Feng Shuang 1,3, *
The flexible tactile sensor array is very important in the field of robot skin
Strohmayr et al [5] fabricated a flexible tactile sensor for robotic hands based on a crossed-wire approach
Summary
Yuyun Xu 1,2,† , Xuekun Zhuang 1,2,† , Guangyu Hu 1,2 , Hongqing Pan 1, * and Feng Shuang 1,3, *. These authors contributed to this work and should be considered co-first authors
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