Related papers: Tactile Tool Manipulation
Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…
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…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…
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…