相关论文: Exploiting High Quality Tactile Sensors for Simpli…

Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of works for inferring adjectives that describe the object, but…

Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…

Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…

Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…

The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…

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…

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…

In this preliminary study, we investigate changes in handover behaviour when transferring hazardous objects with the help of a high-resolution touch sensor. Participants were asked to hand over a safe and hazardous object (a full cup and an…

Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…

Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…

Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Biosensors and wearable sensor systems with transmitting capabilities are currently developed and used for the monitoring of health data, exercise activities, and other performance data. Unlike conventional approaches, these devices enable…