Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Contact Information Flow and Design of Compliance   Identifying changes in contact during contact-rich manipulation can detect
task state or errors, enabling improved robustness and autonomy. The ability to
detect contact is affected by the mechatronic design of the robot, especially
its physical compliance. Established methods can design physical compliance for
many aspects of contact performance (e.g. peak contact force, motion/force
control bandwidth), but are based on time-invariant dynamic models. A change in
contact mode is a discrete change in coupled robot-environment dynamics, not
easily considered in existing design methods. Towards designing robots which
can robustly detect changes in contact mode online, this paper investigates how
mechatronic design can improve contact estimation, with a focus on the impact
of the location and degree of compliance. A design metric of information gain
is proposed which measures how much position/force measurements reduce
uncertainty in the contact mode estimate. This information gain is developed
for fully- and partially-observed systems, as partial observability can arise
from joint flexibility in the robot or environmental inertia. Hardware
experiments with various compliant setups validate that information gain
predicts the speed and certainty with which contact is detected in (i)
monitoring of contact-rich assembly and (ii) collision detection.

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The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th
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The categories of this paper are: chem-ph
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The categories of this paper are: solv-int
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The categories of this paper are: comp-gas
36
The categories of this paper are: cmp-lg
9
The categories of this paper are: nlin
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The categories of this paper are: bayes-an
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The categories of this paper are: plasm-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: quant-ph
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The categories of this paper are: q-fin
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The categories of this paper are: chao-dyn
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The categories of this paper are: q-bio
31
The categories of this paper are: ao-sci
25
The categories of this paper are: patt-sol