Related papers: Active Acoustic Sensing for Robot Manipulation

This paper explores the concept of reflexive actuation, examining how robots may leverage both internal and external stimuli to trigger changes in the motion, performance, or physical characteristics of the robot, such as its size, shape,…

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…

As humans, we hear sound every second of our life. The sound we hear is often affected by the acoustics of the environment surrounding us. For example, a spacious hall leads to more reverberation. Room Impulse Responses (RIR) are commonly…

AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intuitive interface for real-time human…

Active perception systems maximizing information gain to support both monitoring and decision making have seen considerable application in recent work. In this paper, we propose and demonstrate a method of acquiring and extrapolating…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…

Active perception, the ability of a robot to proactively adjust its viewpoint to acquire task-relevant information, is essential for robust operation in unstructured real-world environments. While critical for downstream tasks such as…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

Mobile Manipulation (MoMa) systems incorporate the benefits of mobility and dexterity, due to the enlarged space in which they can move and interact with their environment. However, even when equipped with onboard sensors, e.g., an embodied…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

Robot sound, encompassing both consequential operational noise and intentionally designed auditory cues, plays an important role in human-robot interaction (HRI). Developing a deeper understanding of how robot sounds influence human…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…

Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…