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Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
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…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…
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…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approaches have made progress in visual and language modalities for…
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…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Vision-based tactile sensing has been widely used in perception, reconstruction, and robotic manipulation. However, collecting large-scale tactile data remains costly due to the localized nature of sensor-object interactions and…
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…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
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…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…