相关论文: Acoustic Sensing for Universal Jamming Grippers

This paper introduces a novel Soft Acoustic Curvature (SAC) sensor. SAC incorporates integrated audio components and features an acoustic channel within a flexible structure. A reference acoustic wave, generated by a speaker at one end of…

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…

Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into ``visual microphones''. However, most prior methods had focused on capturing the vibrations of…

Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…

Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…

Any audio recording encapsulates the unique fingerprint of the associated acoustic environment, namely the background noise and reverberation. Considering the scenario of a room equipped with a fixed smart speaker device with one or more…

Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…

A universal audio representation should capture fine-grained speech cues and high-level semantics for environmental sounds and music in a single encoder. Existing encoders often excel in one domain but degrade in others. We propose…

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…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…

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.…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

Transmission of real-time data is strongly increasing due to remote processing of sensor data, among other things. A route to meet this demand is adaptive sensing, in which sensors acquire only relevant information using pre-processing at…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

While Transformer has become the de-facto standard for speech, modeling upon the fine-grained frame-level features remains an open challenge of capturing long-distance dependencies and distributing the attention weights. We propose…

This study explores the integration of auditory and tactile experiences in musical haptics, focusing on enhancing sensory dimensions of music through touch. Addressing the gap in translating auditory signals to meaningful tactile feedback,…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…