相关论文: Using The Feedback of Dynamic Active-Pixel Vision …

This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…

We approach the problem of high-DOF reaching-and-grasping via learning joint planning of grasp and motion with deep reinforcement learning. To resolve the sample efficiency issue in learning the high-dimensional and complex control of…

We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…

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…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…

This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…

In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…

Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…

Localizing and tracking the pose of robotic grippers are necessary skills for manipulation tasks. However, the manipulators with imprecise kinematic models (e.g. low-cost arms) or manipulators with unknown world coordinates (e.g. poor…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…

Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require…