Related papers: Vision-Based Force Estimation for Minimally Invasi…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
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 addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution…
The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…
Weakly supervised violence detection refers to the technique of training models to identify violent segments in videos using only video-level labels. Among these approaches, multimodal violence detection, which integrates modalities such as…
Human motion synthesis and editing are essential to many applications like film post-production. However, they often introduce artefacts in motions, which can be detrimental to the perceived realism. In particular, footskating is a frequent…
Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a Nonlinear Impedance…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when…
Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can…
Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…