相关论文: Scalable, Simulation-Guided Compliant Tactile Fing…
Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like…
Tactile sensors can provide detailed contact in-formation that can facilitate robots to perform dexterous, in-hand manipulation tasks. One of the primitive but important tasks is surface following that is a key feature for robots while…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However,…
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…
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…
Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we presented the GelSight Baby Fin Ray in our previous work, which…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…