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Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…
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…
Soft particles at fluid interfaces play an important role in many aspects of our daily life, such as the food industry, paints and coatings, and medical applications. Analytical methods are not capable of describing the emergent effects of…
Obtaining general relations between macroscopic properties of random assemblies, such as density, and the microscopic properties of their constituent particles, such as shape, is a foundational challenge in the study of amorphous materials.…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a…
We adopt a Quality by Design (QbD) paradigm to better control the mechanical properties of tablets. To this end, the effect of particle size distribution, lubricant concentration, and mixing time on the tensile strength and elastic modulus…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
In this paper we present an early prototype of the Digger Finger that is designed to easily penetrate granular media and is equipped with the GelSight sensor. Identifying objects buried in granular media using tactile sensors is a…
This work presents a perception system applied to robotic manipulation, that is able to assist in navigation, household waste classification and collection in outdoor environments. This system is made up of optical tactile sensors, RGBD…
Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise…
The contactless estimation of the weight of a container and the amount of its content manipulated by a person are key pre-requisites for safe human-to-robot handovers. However, opaqueness and transparencies of the container and the content,…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…