相关论文: Measuring Object Rotation via Visuo-Tactile Segmen…
Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…
Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…
Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
Rotational speed is one of the important metrics to be measured for calibrating the electric motors in manufacturing, monitoring engine during car repairing, faults detection on electrical appliance and etc. However, existing measurement…