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When vision meets touch: A contemporary review for visuotactile sensors from the signal processing perspective
Tactile sensors, which provide information about the physical properties of objects, are an
essential component of robotic systems. The visuotactile sensing technology with the merits …
essential component of robotic systems. The visuotactile sensing technology with the merits …
Sim2real manipulation on unknown objects with tactile-based reinforcement learning
Using tactile sensors for manipulation remains one of the most challenging problems in
robotics. At the heart of these challenges is generalization: How can we train a tactile-based …
robotics. At the heart of these challenges is generalization: How can we train a tactile-based …
Letac-mpc: Learning model predictive control for tactile-reactive gras**
Gras** is a crucial task in robotics, necessitating tactile feedback and reactive gras**
adjustments for robust gras** of objects under various conditions and with differing …
adjustments for robust gras** of objects under various conditions and with differing …
Touch2touch: Cross-modal tactile generation for object manipulation
S Rodriguez, Y Dou, M Oller, A Owens… - ar** systems across various
industries, allowing robots to interact with their environment with precision and adaptability …
industries, allowing robots to interact with their environment with precision and adaptability …
Multiscope: Disambiguating in-hand object poses with proprioception and tactile feedback
In this paper, we propose a method for estimating in-hand object poses using proprioception
and tactile feedback from a bimanual robotic system. Our method addresses the problem of …
and tactile feedback from a bimanual robotic system. Our method addresses the problem of …
EasyCalib: Simple and low-cost in-situ calibration for force reconstruction with vision-based tactile sensors
For elastomer-based tactile sensors, represented by vision-based tactile sensors, routine
calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been …
calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been …
Perceiving extrinsic contacts from touch improves learning insertion policies
Robotic manipulation tasks such as object insertion typically involve interactions between
object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields …
object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields …
[PDF][PDF] Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
In this paper, we consider the problem of nonprehensile manipulation using grasped
objects. This problem is a superset of many common manipulation skills including instances …
objects. This problem is a superset of many common manipulation skills including instances …
3d force and contact estimation for a soft-bubble visuotactile sensor using fem
Soft-bubble tactile sensors have the potential to capture dense contact and force information
across a large contact surface. However, it is difficult to extract contact forces directly from …
across a large contact surface. However, it is difficult to extract contact forces directly from …