相关论文: A Sensor Position Localization Method for Flexible…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of…
Tactile pose estimation and tactile servoing are fundamental capabilities of robot touch. Reliable and precise pose estimation can be provided by applying deep learning models to high-resolution optical tactile sensors. Given the recent…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
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…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…
Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
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…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…