相关论文: Precise Well-plate Placing Utilizing Contact Durin…

3D hand pose tracking/estimation will be very important in the next generation of human-computer interaction. Most of the currently available algorithms rely on low-cost active depth sensors. However, these sensors can be easily interfered…

The problem of face alignment has been intensively studied in the past years. A large number of novel methods have been proposed and reported very good performance on benchmark dataset such as 300W. However, the differences in the…

Robotic manipulation tasks are contact-rich, yet most imitation learning (IL) approaches rely primarily on vision, which struggles to capture stiffness, roughness, slip, and other fine interaction cues. Tactile signals can address this gap,…

The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…

A height-function-based numerical approach is developed for enforcing contact angles on flat and curved solid surfaces within two-dimensional volume-of-fluid simulations. This method incorporates the contact line position into the curvature…

Touchable projection with structured light range cameras is a prolific medium for large interaction surfaces, affording multiple simultaneous users and simple, cheap setup. However robust touch detection in such projector-depth systems is…

Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…

High-precision pose estimation based on visual markers has been a thriving research topic in the field of computer vision. However, the suitability of traditional flat markers on curved objects is limited due to the diverse shapes of curved…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…

Millions of people around the world face motor impairments due to Parkinson's, cerebral palsy, muscular dystrophy and other physical disabilities. The goal of this project is to increase the usable surface-area of devices for users with…

Contactless manipulation of small objects is essential for biomedical and chemical applications, such as cell analysis, assisted fertilisation, and precision chemistry. Established methods, including optical, acoustic, and magnetic…

Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…

The alignment tolerance of multipoles on a girder is better than 30um in the storage ring of High Energy Photon Source HEPS which will be the next project at IHEP Institute of High Energy Physics. This is difficult to meet the precision…

Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…