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 …

This work presents a soft hand capable of robustly gras** and identifying objects based
on internal state measurements. A highly compliant hand allows for intrinsic robustness to …

Aiming at accelerating the creation of new techniques on dexterous robotic manipulations,
this paper surveyed the recent results on object recognition, soft robotic hands, and …

This work presents a soft hand capable of robustly gras** and identifying objects based
on internal state measurements along with a combined system which autonomously …

Manipulation in cluttered environments like homes requires stable grasps, precise
placement and robustness against external contact. Towards addressing these challenges …

This paper presents a novel regrasp control policy that makes use of tactile sensing to plan
local grasp adjustments. Our approach determines regrasp actions by virtually searching for …

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 gras** novel objects without prior …

This letter presents a strategy to represent data from a tactile array sensor and match it to an
object's geometric features. Using that representation, a method is presented to localise a …

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 …

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 …