Related papers: TactoFind: A Tactile Only System for Object Retrie…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…

Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, and integration complexity. This work demonstrates that…

People who are blind or have low vision regularly use their hands to interact with the physical world to gain access to objects' shape, size, weight, and texture. However, many rich visual features remain inaccessible through touch alone,…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…

Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to…

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…