相关论文: Object Classification Utilizing Neuromorphic Propr…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
It is well-established by cognitive neuroscience that human perception of objects constitutes a complex process, where object appearance information is combined with evidence about the so-called object "affordances", namely the types of…
When robots operate in human environments, it's critical that humans can quickly teach them new concepts: object-centric properties of the environment that they care about (e.g. objects near, upright, etc). However, teaching a new…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Somatosensory inputs can be grossly divided into tactile (or cutaneous) and proprioceptive -- the former conveying information about skin stimulation, the latter about limb position and movement. The principal proprioceptors are constituted…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
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…
For lower arm amputees, prosthetic hands promise to restore most of physical interaction capabilities. This requires to accurately predict hand gestures capable of grabbing varying objects and execute them timely as intended by the user.…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
We propose a multimodal, physically grounded approach for metric-scale amodal object reconstruction and pose estimation under severe hand occlusion. Unlike prior occlusion-aware 3D generation methods that rely only on vision, we leverage…
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…