Related papers: Robust Object Manipulation for Tactile-based Blind…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…

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…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector designs for robust manipulation have been proposed but they…

In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

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…

Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…

Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

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…

The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…

Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…