Related papers: Tacmap: Bridging the Tactile Sim-to-Real Gap via G…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
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 sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…
Vision-Based Tactile Sensors (VBTSs) are widely used in robotic tasks because of the high spatial resolution they offer and their relatively low manufacturing costs. However, variations in their sensing mechanisms, structural dimension, and…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
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…
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…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
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…
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…