相关论文: A pose and shear-based tactile robotic system for …
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…
Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
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…
During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…