相关论文: Contact Force and Joint Torque Estimation Using Sk…

Distributed sensor arrays capable of detecting multiple spatially distributed stimuli are considered an important element in the realisation of exteroceptive and proprioceptive soft robots. This paper expands upon the previously presented…

Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…

While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboration (HRC), this paper explores deep learning methods relying solely on a robot's built-in joint sensors, eliminating the need for…

Touch is an important channel for human-robot interaction, while it is challenging for robots to recognize human touch accurately and make appropriate responses. In this paper, we design and implement a set of large-format distributed…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…

Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage of the knowledge of the model of the robot to generate the…

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

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…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…

Artificial skin with the sense of touch can support robots to interact with the surrounding environment efficiently and accomplish complex tasks. Traditional multi-layered artificial skins require complex manufacturing processes which can…

Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…