相关论文: Force/Torque Sensing for Soft Grippers using an Ex…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…
Analyzing sports performance or preventing injuries requires capturing ground reaction forces (GRFs) exerted by the human body during certain movements. Standard practice uses physical markers paired with force plates in a controlled…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16N for force and 1.08mNm for moment when the input ranges from 0~14N and 0~5N in…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and…
Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…