Related papers: Robust Learning-Based Incipient Slip Detection usi…
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…
When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…
Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…
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…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through the design of fall detection/prediction algorithms that will…