Related papers: Compliant In-hand Rolling Manipulation Using Tacti…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on roll-slide contact mostly focus on continuous shapes with…
Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
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…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…