Related papers: TacIPC: Intersection- and Inversion-free FEM-based…
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…
We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In contrast to prior tactile simulators which primarily focus…
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism is integrated between the soft Fin-Ray structure and a…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…