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Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
This paper investigates a novel task of generating texture images from perceptual descriptions. Previous work on texture generation focused on either synthesis from examples or generation from procedural models. Generating textures from…
Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…
Wearable e-textile interfaces require gesture recognition capabilities but face severe constraints in power consumption, computational capacity, and form factor that make traditional deep learning impractical. While lightweight…
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…