Related papers: FlyHaptics: Flying Multi-contact Haptic Interface
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency and limited sensor setup. While prior work has explored…
In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degree…
We tackle the novel problem of predicting 3D hand motion and contact maps (or Interaction Trajectories) given a single RGB view, action text, and a 3D contact point on the object as input. Our approach consists of (1) Interaction Codebook:…
Multi-object tracking (MOT) in UAV-based video is challenging due to variations in viewpoint, low resolution, and the presence of small objects. While other research on MOT dedicated to aerial videos primarily focuses on the academic aspect…