Related papers: Tac2Structure: Object Surface Reconstruction Only …

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…

Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Tactile sensors can provide detailed contact in-formation that can facilitate robots to perform dexterous, in-hand manipulation tasks. One of the primitive but important tasks is surface following that is a key feature for robots while…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…

Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…

Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…

The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…

We present an end-to-end system for reconstructing complete watertight and textured models of moving subjects such as clothed humans and animals, using only three or four handheld sensors. The heart of our framework is a new pairwise…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…

Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…

In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…