Related papers: Tactile Sensing
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot 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…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
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…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specific sensor design. We address this problem by performing…
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
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…
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate…
Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…