Related papers: Tactile Robotics: An Outlook

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…

In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…

In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…

Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…

Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…

Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of works for inferring adjectives that describe the object, but…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…

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…

Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we…

Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…

We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advocate an interdisciplinary approach, socially cognizant…