Related papers: Learning Decoupled Multi-touch Force Estimation, L…
This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Fine-grained action detection is an important task with numerous applications in robotics and human-computer interaction. Existing methods typically utilize a two-stage approach including extraction of local spatio-temporal features…
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and…
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body deformations of the silicone gel. However, accurately inferring…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
Previous soft tissue manipulation studies assumed that the grasping point was known and the target deformation can be achieved. During the operation, the constraints are supposed to be constant, and there is no obstacles around the soft…
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of…
Soft robotics is applicable to a variety of domains due to the adaptability offered by the soft and compliant materials. To develop future intelligent soft robots, soft sensors that can capture deformation with nearly infinite…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution must address the limited capacity for realistic model…