相关论文: Skin Normal Force Calibration Using Vacuum Bags

Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to…

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…

We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

For elastomer-based tactile sensors, represented by visuotactile sensors, routine calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been shown to be important for force reconstruction. However, the reliance on…

This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…

Artificial Intelligence (AI) models have demonstrated expert-level performance in melanoma detection, yet their clinical adoption is hindered by performance disparities across demographic subgroups such as gender, race, and age. Previous…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…

Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…

This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…

This paper presents a method for estimating normals of mirrors and transparent objects challenging for cameras to recognize. We propose spraying water vapor onto mirror or transparent surfaces to create a diffuse reflective surface. Using…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

The primary interface of contact between a robotic or prosthetic hand and the external world is through the artificial skin. To make sense of that contact, tactile sensors are needed. These sensors are normally embedded in soft, synthetic…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Hand-eye calibration aims to estimate the transformation between a camera and a robot. Traditional methods rely on fiducial markers, which require considerable manual effort and precise setup. Recent advances in deep learning have…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

The lateral Casimir-Polder force between an atom and a corrugated surface should allow one to study experimentally non trivial geometrical effects in quantum vacuum. Here, we derive the theoretical expression of this force in a scattering…