相关论文: Active Acoustic Sensing for Robot Manipulation

Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…

Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…

This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…

Existing robotic manipulation methods primarily rely on visual and proprioceptive observations, which may struggle to infer contact-related interaction states in partially observable real-world environments. Acoustic cues, by contrast,…

Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

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…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…

Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…

Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…

Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…

Recent advances in active noise control have enabled the development of hearables with spatial selectivity, which actively suppress undesired noise while preserving desired sound from specific directions. In this work, we propose an…

Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Current research in robotic sounds generally focuses on either masking the consequential sound produced by the robot or on sonifying data about the robot to create a synthetic robot sound. We propose to capture, modify, and utilise rather…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…