相关论文: Tacchi: A Pluggable and Low Computational Cost Ela…
With the development of robotics technology, some tactile sensors, such as vision-based sensors, have been applied to contact-rich robotics tasks. However, the durability of vision-based tactile sensors significantly increases the cost of…
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver high fidelity but demand costly remeshing, while Material…
Training robot policies in simulation is becoming increasingly popular; nevertheless, a precise, reliable, and easy-to-use tactile simulator for contact-rich manipulation tasks is still missing. To close this gap, we develop TacEx -- a…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Tactile afferents such as (RA), and Pacinian (PC) afferents that respond to external stimuli enable complicated actions such as grasping, stroking and identifying an object. To understand the tactile sensation induced by these actions…
An ideal software system in computer graphics should be a combination of innovative ideas, solid software engineering and rapid development. However, in reality these requirements are seldom met simultaneously. In this paper, we present…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
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.…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…