Related papers: Leveraging Compliant Tactile Perception for Haptic…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…
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…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
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,…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…
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…
To achieve human-like haptic perception in anthropomorphic grippers, the compliant sensing surfaces of vision tactile sensor (VTS) must evolve from conventional planar configurations to biomimetically curved topographies with continuous…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
Mobile manipulators are increasingly deployed in complex environments, requiring diverse sensors to perceive and interact with their surroundings. However, equipping every robot with every possible sensor is often impractical due to cost…
Tactile sensors can provide detailed contact in-formation that can facilitate robots to perform dexterous, in-hand manipulation tasks. One of the primitive but important tasks is surface following that is a key feature for robots while…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…