Related papers: Active Extrinsic Contact Sensing: Application to G…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
We present a scheme for active compensation of complex extrinsic polarization perturbations introduced into an optical system. Imaging polarimeter is used to measure the polarization state across a beam profile and a liquid crystal spatial…
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the hole, the robot should push the peg downwards. While high…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation in density of visual and tactile data, we previously proposed…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
Active perception is a fundamental skill that enables us humans to deal with uncertainty in our inherently partially observable environment. For senses such as touch, where the information is sparse and local, active perception becomes…
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…
The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…
Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…
We address the problem of robot guided assembly tasks, by using a learning-based approach to identify contact model parameters for known and novel parts. First, a Variational Autoencoder (VAE) is used to extract geometric features of…
Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…