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Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary in tasks that involve contact-rich motion. In this work, we leverage surprise from mismatches in touch feedback…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…
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…
Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In…
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 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…
Efficient operation of intelligent machines in the real world requires methods that allow them to understand and predict the uncertainties presented by the unstructured environments with good accuracy, scalability and generalization,…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Tactile signals collected by wearable electronics are essential in modeling and understanding human behavior. One of the main applications of tactile signals is action classification, especially in healthcare and robotics. However, existing…
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…
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…
Tactile sensing is an essential modality for smart robots as it enables them to interact flexibly with physical objects in their environment. Recent advancements in electronic skins have led to the development of data-driven machine…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
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.…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…