相关论文: Active Acoustic Sensing for Robot Manipulation
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Multimodal audiovisual perception can enable new avenues for robotic manipulation, from better material classification to the imitation of demonstrations for which only audio signals are available (e.g., playing a tune by ear). However, to…
Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and…
Humans are capable of completing a range of challenging manipulation tasks that require reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such tasks are partially-observed; for example, taking a notebook out…
The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…
This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
This paper presents a self-supervised method for visual detection of the active speaker in a multi-person spoken interaction scenario. Active speaker detection is a fundamental prerequisite for any artificial cognitive system attempting to…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
The electroacoustic resonator is an effcient electro-active device for noise attenuation in enclosed cavities or acoustic waveguides. It is made of a loudspeaker (the actuator) and one or more microphones (the sensors). So far, the desired…
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…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into ``visual microphones''. However, most prior methods had focused on capturing the vibrations of…
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…