Related papers: Visual Tactile Sensor Based Force Estimation for P…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
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…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
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…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
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…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
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…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieve precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
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…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…