Related papers: Augmenting Off-the-Shelf Grippers with Tactile Sen…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Touch is recognized as a vital sense for humans and an equally important modality for robots, especially for dexterous manipulation, material identification, and scenarios involving visual occlusion. Building upon very recent work in touch…
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands.…
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…
The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detection can enhance the overall security of robotic gripping.…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…