相关论文: Touch2Insert: Zero-Shot Peg Insertion by Touching …

In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…

Robotic peg-in-hole assembly represents a critical area of investigation in robotic automation. The fusion of reinforcement learning (RL) and deep neural networks (DNNs) has yielded remarkable breakthroughs in this field. However, existing…

Tactile graphics are essential for providing access to visual information for the 43 million people globally living with vision loss. Traditional methods for creating these graphics are labor-intensive and cannot meet growing demand. We…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…

Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…

Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-resolution 3D contact geometry for a compact robot finger, to…

Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…

Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face prohibitive data collection costs.…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…

Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…

Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…

In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of touch/contact modality can aid in accurately localizing the…

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…

We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…