相关论文: Elastic Interaction of Particles for Robotic Tacti…

Task completion in digital and physical environments increasingly involves complex temporal interaction, where actions and observations unfold over different time scales rather than align with fixed observation--action steps. To model such…

Vision-based tactile sensors encode object data via optical signals, capturing microscale deformations using elastomer through densely arranged optical imaging sensors to detect subtle data variations. To enable continuous contact…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

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…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings.…

The systematic errors due to the practical implementation of the Contact Dynamics method for simulation of dense granular media are examined. It is shown that, using the usual iterative solver to simulate a chain of rigid particles,…

The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…

Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer…

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…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…

Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…

A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently,…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…