Related papers: Shear-invariant Sliding Contact Perception with a …
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…
High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between sensors due to design and manufacturing variations, which…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
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…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
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…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…