Related papers: Tactile Ergodic Coverage on Curved Surfaces
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
This paper presents an active search trajectory synthesis technique for autonomous mobile robots with nonlinear measurements and dynamics. The presented approach uses the ergodicity of a planned trajectory with respect to an expected…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current ergodic approaches are for continuous spaces, which require…
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a particular class of measurement (e.g., a contact detection…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…