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This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing measurements and velocity commands to compensate the…
Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…
Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
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…
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…
High force/torque (F/T) sensor calibration accuracy is crucial to achieving successful force estimation/control tasks with humanoid robots. State-of-the-art affine calibration models do not always approximate correctly the physical…
Fingernail imaging has been proven to be effective in prior works [1],[2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp…
In limbed robotics, end-effectors must serve dual functions, such as both feet for locomotion and grippers for grasping, which presents design challenges. This paper introduces a multi-modal end-effector capable of transitioning between…
The use of pointed or edged tools or objects is one of the most challenging aspects of today's application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed…
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements are used for load identification, contact detection, and…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only…
Reconstruction of skilled humans sensation and control system often leads to a development of robust control for the robots. We are developing an unscrewing robot for the automated disassembly which requires a comprehensive control system,…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Humans achieve stable and dexterous object manipulation by coordinating grasp forces across multiple fingers and palms, facilitated by a unified tactile memory system in the somatosensory cortex. This system encodes and stores tactile…