相关论文: Surface-based Manipulation Using Tunable Compliant…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
This paper investigates the task of the open-ended interactive robotic manipulation on table-top scenarios. While recent Large Language Models (LLMs) enhance robots' comprehension of user instructions, their lack of visual grounding…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
Soft material research has seen significant growth in recent years, with emerging applications in robotics, electronics, and healthcare diagnostics where understanding material mechanical response is crucial for precision design.…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Haptic feedback is integral to the improved experience of prosthetic users and the reduction in prosthesis rejection. Prior studies have explored various methods to encode tactile information and deliver vibration feedback. However, a…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This…
We introduced a new concept for fabricating solvent stimulus polymer actuators with unprecedented sensitivity and accuracy. This was accomplished by integrating porous architectures and electrostatic complexation gradients in a poly(ionic…
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.…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…