相关论文: Estimating Properties of Solid Particles Inside Co…

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…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequently, making automation of pick-and-place difficult. A popular…

The rice grain quality can be determined from its size and chalkiness. The traditional approach to measure the rice grain size involves manual inspection, which is inefficient and leads to inconsistent results. To address this issue, an…

Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…

The plasticity of amorphous solids undergoing shear is characterized by quasi-localized rearrangements of particles. While many models of plasticity exist, the precise relationship between plastic dynamics and the structure of a particle's…

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

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…

We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…

The densest amorphous packing of rigid particles is known as random close packing. It has long been appreciated that higher densities are achieved by using collections of particles with a variety of sizes. The variety of sizes is often…

A method of modifying the roughness of soda-lime glass spheres is presented, with the purpose of tuning inter-particle friction. The effect of chemical etching on the surface topography and the bulk frictional properties of grains is…

We use the first Betti number of a complex to characterize the morphological structure of granular samples in mechanical equilibrium. We analyze two-dimensional granular packings after a tapping process by means of both simulations and…

We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…

In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with special properties such as deformability is challenging for…

During the operation of a chemical plant, product quality must be consistently maintained, and the production of off-specification products should be minimized. Accordingly, process variables related to the product quality, such as the…

We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…

Segregation is a popular phenomenon. It has considerable effects on material performance. To the author's knowledge, there is still no automated objective quantitative indicator for segregation. In order to full fill this task, segregation…