Related papers: Improved Proximity, Contact, and Force Sensing via…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
The human body is punctuated with wide array of sensory systems that provide a high evolutionary advantage by facilitating formation of a detailed picture of the immediate surroundings. The sensors range across a wide spectrum, acquiring…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally…
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…
Regulatory limits on Maximum Permissible Exposure (MPE) require handheld devices to reduce transmit power when operated near the user's body. Current proximity sensors provide only binary detection, triggering conservative power back-off…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…