Related papers: Improved Proximity, Contact, and Force Sensing via…
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…
An original MEMS-based force sensing device is designed which allows to measure spatially resolved normal and tangential stress fields at the base of an elastomeric film. This device is used for the study of the contact stress between a…
Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…
Atomic force microscopes have proved to be fundamental research tools in many situations where a gentle imaging process is required, and in a variety of environmental conditions, such as the study of biological samples. Among the possible…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Recent advancements in soft robots, human-machine interfaces, and wearable electronics have led to an increased demand for high-performance soft tactile sensors. Tomographic tactile sensor based on resistive coupling is a novel contact…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments. The handheld motion controller enables natural control of…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…