相关论文: Tactile Beyond Pixels: Multisensory Touch Represen…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective…

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…

Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…

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…

A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…

Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…

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…

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…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…