Related papers: Inferring Object Properties with a Tactile Sensing…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…
Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when…
Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…
Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…
Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Estimating physical properties is critical for safe and efficient autonomous robotic manipulation, particularly during contact-rich interactions. In such settings, vision and tactile sensing provide complementary information about object…