相关论文: Extremum Seeking Controlled Wiggling for Tactile I…

Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…

Insertion tasks in robotic manipulation demand precise, contact-rich interactions that vision alone cannot resolve. While tactile feedback is intuitively valuable, existing studies have shown that na\"ive visuo-tactile fusion often fails to…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Vision-based grasping systems typically adopt an open-loop execution of a planned grasp. This policy can fail due to many reasons, including ubiquitous calibration error. Recovery from a failed grasp is further complicated by visual…

We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…

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…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…

Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

This paper investigates multivariable extremum seeking using unit-vector control. By employing the gradient algorithm and a polytopic embedding of the unknown Hessian matrix, we establish sufficient conditions, expressed as linear matrix…

Recent work in visual end-to-end learning for robotics has shown the promise of imitation learning across a variety of tasks. Such approaches are expensive both because they require large amounts of real world training demonstrations and…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

Reinforcement learning for control over continuous spaces typically uses high-entropy stochastic policies, such as Gaussian distributions, for local exploration and estimating policy gradient to optimize performance. Many robotic control…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…