相关论文: Optical Tactile Sensing for Aerial Multi-Contact I…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
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…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information has driven the use of machine learning algorithms to convert…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body deformations of the silicone gel. However, accurately inferring…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…