Related papers: Transferring Tactile Data Across Sensors
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
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…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…
Generalizable algorithms for tactile sensing remain underexplored, primarily due to the diversity of sensor modalities. Recently, many methods for cross-sensor transfer between optical (vision-based) tactile sensors have been investigated,…
Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings.…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…
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…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
Perceptual processes are frequently multi-modal. This is the case of haptic perception. Data sets of visual and haptic sensory signals have been compiled in the past, especially when it comes to the exploration of textured surfaces. These…
Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…