相关论文: Investigating Active Sampling for Hardness Classif…

We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method…

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…

Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…

A principle bottleneck in image classification is the large number of training examples needed to train a classifier. Using active learning, we can reduce the number of training examples to teach a CNN classifier by strategically selecting…

This paper explores supervised techniques for continuous anomaly detection from biometric touch screen data. A capacitive sensor array used to mimic a touch screen as used to collect touch and swipe gestures from participants. The gestures…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

A vast literature shows that the learning-based visual perception model is sensitive to adversarial noises, but few works consider the robustness of robotic perception models under widely-existing camera motion perturbations. To this end,…

Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction framework that unifies vision, touch, and language for…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

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…

Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation in density of visual and tactile data, we previously proposed…

One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is…

Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…

Assessing image quality is crucial in image processing tasks such as compression, super-resolution, and denoising. While subjective assessments involving human evaluators provide the most accurate quality scores, they are impractical for…

Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…

Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…

A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…

Our human sense of touch enables us to manipulate our surroundings; therefore, complex robotic manipulation will require artificial tactile sensing. Typically tactile sensor arrays are used in robotics, implying that a straightforward way…