相关论文: A three-dimensional force estimation method for th…

In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

Monocular 3D clothed human reconstruction aims to create a complete 3D avatar from a single image. To tackle the human geometry lacking in one RGB image, current methods typically resort to a preceding model for an explicit geometric…

Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…

Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation methods either assume constant curvature or rely on…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…

We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…

Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…

Monocular 3D human pose estimation has made progress in recent years. Most of the methods focus on single persons, which estimate the poses in the person-centric coordinates, i.e., the coordinates based on the center of the target person.…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

In monocular video 3D multi-person pose estimation, inter-person occlusion and close interactions can cause human detection to be erroneous and human-joints grouping to be unreliable. Existing top-down methods rely on human detection and…

Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, their physical design and the information they provide do not…

We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…

This work addresses the challenging problem of unconstrained 3D hand pose estimation using monocular RGB images. Most of the existing approaches assume some prior knowledge of hand (such as hand locations and side information) is available…

In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…

The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…

Fluid-filled soft visuotactile sensors such as the Soft-bubbles alleviate key challenges for robust manipulation, as they enable reliable grasps along with the ability to obtain high-resolution sensory feedback on contact geometry and…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…