相关论文: Event-Driven Visual-Tactile Sensing and Learning f…
In the pursuit of deeper immersion in human-machine interaction, achieving higher-dimensional tactile input and output on a single interface has become a key research focus. This study introduces the Visual-Electronic Tactile (VET) System,…
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…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…
Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…
This paper presents a novel hardware system for high-speed, event-sparse sampling-based electronic skin (e-skin)that integrates sensing and neuromorphic computing. The system is built around a 16x16 piezoresistive tactile array with front…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or event cameras, inspired by biological vision, offer a…
Neuromorphic visual sensors are artificial retinas that output sequences of asynchronous events when brightness changes occur in the scene. These sensors offer many advantages including very high temporal resolution, no motion blur and…
Event-based vision sensors, inspired by biological neural systems, asynchronously capture local pixel-level intensity changes as a sparse event stream containing position, polarity, and timestamp information. These neuromorphic sensors…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
Event-based cameras are neuromorphic sensors capable of efficiently encoding visual information in the form of sparse sequences of events. Being biologically inspired, they are commonly used to exploit some of the computational and power…
Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…
Neuromorphic Computing (NC) and Spiking Neural Networks (SNNs) in particular are often viewed as the next generation of Neural Networks (NNs). NC is a novel bio-inspired paradigm for energy efficient neural computation, often relying on…