Related papers: Using Collocated Vision and Tactile Sensors for Vi…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture 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,…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
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 is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…