Related papers: Sensorimotor Control Strategies for Tactile Roboti…
Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
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…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
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…
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…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
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…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…