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This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
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…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
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 challenging to obtain good accuracy in real time because of its lack of…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
During the execution of handling processes in manufacturing, it is difficult to measure the process forces with state-of-the-art gripper systems since they usually lack integrated sensors. Thus, the exact state of the gripped object and the…