相关论文: Fine Robotic Manipulation without Force/Torque Sen…

Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset wrench at the robot wrist. During…

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…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…

Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…

With their unique combination of characteristics - an energy density almost 100 times that of human muscle, and a power density of 5.3 kW/kg, similar to a jet engine's output - Nylon artificial muscles stand out as particularly apt for…

Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…

Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…

Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for industrial arms that shows how prediction can be used to resolve…

Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…

Six-axes force/torque sensors are increasingly needed in mechanical engineering. Here, we introduce a flexure-based design for such sensors, which solves some of the drawbacks of the existing designs. In particular, it is backlash-free, it…

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the limitations of the state-of-the-art model-based wrench…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…

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…

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…

Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…

Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…

Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…

Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…