Related papers: Contact modelling and tactile data processing for …

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

The integration of dialogue interfaces in mobile devices has become ubiquitous, providing a wide array of services. As technology progresses, humanoid robots designed with human-like features to interact effectively with people are gaining…

Mimicking the perceptual functions of human cutaneous mechanoreceptors, artificial skins or flexible pressure sensors can transduce tactile stimuli to quantitative electrical signals. Conventional methods to design such devices follow a…

Unlike in language or vision, one of the fundamental challenges in robot learning is the lack of access to vast data resources. We can further break down the problem into (1) data sparsity from the angle of data representation and (2) data…

Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…

Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…

Even simple tactile stimuli can lead to remarkably different perceptions among individuals, both in intensity and pleasantness. To understand the physical factors behind this variation, it is important to investigate how mechanical events…

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…

We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…

Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…

Human-robot interaction combines robotics, cognitive science, and human factors to study collaborative systems. This paper introduces a method for identifying influential robot actions using transfer entropy, a statistic that measures…

Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…

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…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…