相关论文: Extrinsic Contact Sensing with Relative-Motion Tra…

Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…

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.…

When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…

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…

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the object. Once the contact relationship has been established and…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

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…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration…