相关论文: Active Acoustic Sensing for Robot Manipulation
This work introduces a robotic dummy head that fuses the acoustic realism of conventional audiological mannequins with the mobility of robots. The proposed device is capable of moving, talking, and listening as people do, and can be used to…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data,…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
Sound is one of the most informative and abundant modalities in the real world while being robust to sense without contacts by small and cheap sensors that can be placed on mobile devices. Although deep learning is capable of extracting…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
In this paper, we present a framework that uses acoustic side-channel analysis (ASCA) to monitor and verify whether a robot correctly executes its intended commands. We develop and evaluate a machine-learning-based workflow verification…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Small vibrations observed in video can unveil information beyond what is visual, such as sound and material properties. It is possible to passively record these vibrations when they are visually perceptible, or actively amplify their visual…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…