相关论文: Design of a Fully Actuated Robotic Hand With Multi…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…

This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger,…

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…

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…

We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…

Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…

This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…

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…

Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

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…

Manipulation tasks often require a high degree of dexterity, typically necessitating grippers with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fingers can execute precise and intricate manipulation tasks,…

Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…

Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…