Related papers: Vision-Based Force Estimation for Minimally Invasi…
Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…
The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…
Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and…
Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…
Accurate force/torque estimation is essential for applications such as powered exoskeletons, robotics, and rehabilitation. However, force/torque estimation under dynamic conditions is a challenging due to changing joint angles, force…
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 finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition,…
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct…
Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…
For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…
Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
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…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
Recently, the emergence of multitask deep learning models has enhanced catheterization procedures by providing tactile and visual perception data through an end-to-end architecture. This information is derived from a segmentation and force…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…