Related papers: ForcePinch: Force-Responsive Spatial Interaction f…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
With the widespread adoption of Extended Reality (XR) headsets, spatial computing technologies are gaining increasing attention. Spatial computing enables interaction with virtual elements through natural input methods such as eye tracking,…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…
Body dynamics are crucial information for the analysis of human motions in important research fields, ranging from biomechanics, sports science to computer vision and graphics. Modern approaches collect the body dynamics, external reactive…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Understanding how features interact with each other is of paramount importance in many scientific discoveries and contemporary applications. Yet interaction identification becomes challenging even for a moderate number of covariates. In…
In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…
Gesture recognition is essential for the interaction of autonomous vehicles with humans. While the current approaches focus on combining several modalities like image features, keypoints and bone vectors, we present neural network…
Although it has been shown that augmented multimodal feedback has a facilitatory effect on motor performance for motor learning and music training, the functionality of haptic feedback combined with other modalities in rhythmic movement…
We evaluate the performance and usability of mouse-based, touch-based, and tangible interaction for manipulating objects in a 3D virtual environment. This comparison is a step toward a better understanding of the limitations and benefits of…
Mobile robots are increasingly deployed in unstructured environments where obstacles and objects are movable. Navigation in such environments is known as interactive navigation, where task completion requires not only avoiding obstacles but…
Contact-rich manipulation in unstructured environments demands precise, multimodal perception to enable robust and adaptive control. Vision-based tactile sensors (VBTSs) have emerged as an effective solution; however, conventional VBTSs…
While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…