Related papers: Acoustic Sensing for Universal Jamming Grippers
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive…
Teeth gestures become an alternative input modality for different situations and accessibility purposes. In this paper, we present TeethTap, a novel eyes-free and hands-free input technique, which can recognize up to 13 discrete teeth…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
We present an open-access dataset of over 8000 acoustic impulse from 160 microphones spread across the body and affixed to wearable accessories. The data can be used to evaluate audio capture and array processing systems using wearable…
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…
Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…
Small form factor limits physical input space in earable (i.e., ear-mounted wearable) devices. Off-device earable inputs in alternate mid-air and on-skin around-ear interaction spaces using uni-manual gestures can address this input space…
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…
In this paper, we focus on Whisper, a recent automatic speech recognition model trained with a massive 680k hour labeled speech corpus recorded in diverse conditions. We first show an interesting finding that while Whisper is very robust…
Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment. However, due to the lack of deformable sensors, few have…
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing,…
Acoustic sensing manifests great potential in various applications that encompass health monitoring, gesture interface and imaging by leveraging the speakers and microphones on smart devices. However, in ongoing research and development in…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
Earables (ear wearables) is rapidly emerging as a new platform encompassing a diverse range of personal applications. The traditional authentication methods hence become less applicable and inconvenient for earables due to their limited…
State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To improve grasping performance on such objects, we introduce a…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…