相关论文: SandWorm: Event-based Visuotactile Perception with…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
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.…
This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However, the collection of high-quality training data, the impact of…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
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…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios.…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better…