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Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
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.…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Recognition techniques allow robots to make proper planning and control strategies to manipulate various objects. Object recognition is more reliable when made by combining several percepts, e.g., vision and haptics. One of the…
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins offer a flexible form factor for hand-wide coverage with fast…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
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…
This paper proposes a new method for live free-viewpoint human performance capture with dynamic details (e.g., cloth wrinkles) using a single RGBD camera. Our main contributions are: (i) a multi-layer representation of garments and body,…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…