Related papers: Tactile-Based Human Intent Recognition for Robot A…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
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…
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operator variability, robotic ultrasound systems have gained…
Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
Tactile-aware robot learning faces critical challenges in data collection and representation due to data scarcity and sparsity, and the absence of force feedback in existing systems. To address these limitations, we introduce a tactile…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…