Related papers: PneuGelSight: Soft Robotic Vision-Based Propriocep…
Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
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…
GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
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…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
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…
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…