Related papers: WaveTouch: Active Tactile Sensing Using Vibro-Feed…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
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…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…