Related papers: Contact identification for assembly-disassembly si…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
In this research, we have developed a haptic situational awareness device that presents users with directional cues through continuous vibrotactile sensations. Using the device, we present user studies on the effectiveness of a…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Simplifying complex 3D meshes is a crucial step in robotics applications to enable efficient motion planning and physics simulation. Common methods, such as approximate convex decomposition, represent a mesh as a collection of simple parts,…
Contactless fingerprint has gained lots of attention in recent fingerprint studies. However, most existing contactless fingerprint algorithms treat contactless fingerprints as 2D plain fingerprints, and still utilize traditional…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is challenging because of…
Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
Objective: The objective of this work is to introduce and demonstrate the effectiveness of a novel sensing modality for contact detection between an off-the-shelf aspiration catheter and a thrombus. Methods: A custom robotic actuator with a…
In this work we propose a learning approach to high-precision robotic assembly problems. We focus on the contact-rich phase, where the assembly pieces are in close contact with each other. Unlike many learning-based approaches that heavily…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Amodal completion, which is the process of inferring the full appearance of objects despite partial occlusions, is crucial for understanding complex human-object interactions (HOI) in computer vision and robotics. Existing methods, such as…
Digital communication tools are limited to visual and auditory information and lack non-verbal information such as touch, which is important for communicating intentions and emotions. In order to solve this problem, the use of haptic…