Related papers: Force/Torque Sensing for Soft Grippers using an Ex…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment. However, due to the lack of deformable sensors, few have…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Accurate net load forecasting is vital for energy planning, aiding decisions on trade and load distribution. However, assessing the performance of forecasting models across diverse input variables, like temperature and humidity, remains…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception of intrinsic and extrinsic interactions is critical in…
This paper has introduced a novel approach for the real-time estimation of 3D tactile forces exerted by human fingertips via vision only. The introduced approach is entirely monocular vision-based and does not require any physical force…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
Insertion tasks in robotic manipulation demand precise, contact-rich interactions that vision alone cannot resolve. While tactile feedback is intuitively valuable, existing studies have shown that na\"ive visuo-tactile fusion often fails to…
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…
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…
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…