Related papers: PseudoTouch: Efficiently Imaging the Surface Feel …
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver high fidelity but demand costly remeshing, while Material…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
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…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
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…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…