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High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…
For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends to cause occlusions by the hand or the object itself, image…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Textureless object recognition has become a significant task in Computer Vision with the advent of Robotics and its applications in manufacturing sector. It has been very challenging to get good performance because of its lack of…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…