Related papers: Learning to Detect Slip through Tactile Estimation…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
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…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
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…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
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…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
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…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…