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continuum-robots, prosthetic devices and wearable body-shape sensors. A miniaturised one-degree-of-freedom joint-angle sensor is devised, using a single light emitting/receiving optical fibre with a coupler connected to a Keyence (FS-N11MN,…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
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…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavily on vision or tactile sensing to track object states,…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…
Existing approaches for visuomotor robotic control typically require characterizing the robot in advance by calibrating the camera or performing system identification. We propose MAVRIC, an approach that works with minimal prior knowledge…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
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…