Related papers: Proprioceptive Sensor-Based Simultaneous Multi-Con…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…

Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…

We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…

In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…

Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in contact-rich and force-sensitive tasks where…

Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…

Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…

We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…

In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…

Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…

Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…

For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the…

In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…