Related papers: Automatic Calibration for an Open-source Magnetic …
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieve precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
We study the responses of two tactile sensors, the fingertip sensor from the iCub and the BioTac under different external stimuli. The question of interest is to which degree both sensors i) allow the estimation of force exerted on the…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with…
A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
This paper proposes techniques to calibrate six-axis force-torque sensors that can be performed in situ, i.e., without removing the sensor from the hosting system. We assume that the force-torque sensor is attached to a rigid body equipped…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…