Related papers: Understanding Dynamic Tactile Sensing for Liquid P…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…

Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…

Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…

Traditional liquid identification instruments are often unavailable to the general public. This paper shows the feasibility of identifying unknown liquids with commercial lightweight devices, such as a smartphone. The key insight is that…

Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…

Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…

Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…

Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…

High-resolution multi-modality information acquired by vision-based tactile sensors can support more dexterous manipulations for robot fingers. Optical flow is low-level information directly obtained by vision-based tactile sensors, which…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…