Related papers: Combined Physics and Event Camera Simulator for Sl…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
Identifying independently moving objects is an essential task for dynamic scene understanding. However, traditional cameras used in dynamic scenes may suffer from motion blur or exposure artifacts due to their sampling principle. By…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
Event cameras operate fundamentally differently from traditional Active Pixel Sensor (APS) cameras, offering significant advantages. Recent research has developed simulators to convert video frames into events, addressing the shortage of…
Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous "events" instead of intensity frames. They offer significant advantages with respect to conventional cameras: high dynamic range (HDR),…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…
Event camera is a new type of sensor that is different from traditional cameras. Each pixel is triggered asynchronously by an event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement is…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
Event cameras are a new type of sensors that are different from traditional cameras. Each pixel is triggered asynchronously by event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement…
Event cameras are a bio-inspired class of sensors that asynchronously measure per-pixel intensity changes. Under fixed illumination conditions in static or low-motion scenes, rigidly mounted event cameras are unable to generate any events…
Table tennis robots gained traction over the last years and have become a popular research challenge for control and perception algorithms. Fast and accurate ball detection is crucial for enabling a robotic arm to rally the ball back…
The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detection can enhance the overall security of robotic gripping.…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
We demonstrate the first reinforcement-learning application for robots equipped with an event camera. Because of the considerably lower latency of the event camera, it is possible to achieve much faster control of robots compared with the…