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Reciprocal and nonreciprocal effects in dielectric and magnetic materials provide crucial information about the microscopic properties of electrons. However, experimentally distinguishing the two has proven to be challenging, especially…
Robotic manipulation in space is essential for emerging applications such as debris removal and in-space servicing, assembly, and manufacturing (ISAM). A key requirement for these tasks is the ability to perform precise, contact-rich…
Fiber optic shape sensors have enabled unique advances in various navigation tasks, from medical tool tracking to industrial applications. Eccentric fiber Bragg gratings (FBG) are cheap and easy-to-fabricate shape sensors that are often…
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic…
We address the problem of shaping deformable plastic materials using non-prehensile actions. Shaping plastic objects is challenging, since they are difficult to model and to track visually. We study this problem, by using kinetic sand, a…
To perceive 3D shapes such as pyramids, the perception of planes and edges as tactile sensations is an essential component. This is difficult to perceive with the conventional vibrotactile sensation used in ultrasound haptics because of its…
Selective segmentation is an important application of image processing. In contrast to global segmentation in which all objects are segmented, selective segmentation is used to isolate specific objects in an image and is of particular…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic…
The growing ``Hubble tension'' has prompted the need for precise measurements of cosmological distances. This paper demonstrates a purely geometric approach for determining the distance to extragalactic binaries through a joint analysis of…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
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…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object's surface matching the hand…
The search for minor bodies in the solar system promises insights into its formation history. Wide imaging surveys offer the opportunity to serendipitously discover and identify these traces of planetary formation and evolution. We aim to…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…
Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…