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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…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

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…

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…

Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

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…

Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…

While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor…

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…

Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…