Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

Recently, a number of grasp detection methods have been proposed that can be used to
localize robotic grasp configurations directly from sensor data without estimating object …

We present a unified framework for grasp planning and in-hand grasp adaptation using
visual, tactile, and proprioceptive feedback. The main objective of the proposed framework is …

This paper deals with the problem of stable gras** under pose uncertainty. Our method
utilizes tactile sensing data to estimate grasp stability and make necessary hand …

This paper deals with the networked control of loosely or tightly connected cooperative
manipulators in charge of achieving a cooperative task that is specified by means of proper …

Functionality of a human hand can be augmented with wearable robotic fingers to enable
gras** and manipulation of objects with a single hand. Such technology will have …

We consider the problem of using real-time feedback from contact sensors to create closed-
loop pushing actions. To do so, we formulate the problem as a partially observable Markov …

We investigate the problem of using contact sensors to estimate the pose of an object during
planar pushing by a fixed-shape hand. Contact sensors are unique because they inherently …

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in
unstructured environments still remains far behind that of humans. This is not solely caused …

This paper introduces seashell effect pretouch sensing, and demonstrates application of this
new sensing modality to robot grasp control, and also to robot grasp planning.“Pretouch” …