6 accepted papers
Robust in-hand manipulation of objects with movable content requires estimation and prediction of the contents' motion with enough anticipation to allow time to compensate for resulting internal torques. The quick estimation of the objects' dynamics can be challenging when the objects' motion proper
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction—e.g., velocity, force, acceleration— as well as properties of the sensor and object under test. Th…
During a natural disaster such as hurricane, earthquake, or fire, robots have the potential to explore vast areas and provide valuable aid in search & rescue efforts. These scenarios are often high-pressure and time-critical with dynamically-changing task goals. One limitation to these large scale d…
With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However, near-optimal demonstrations of a task can be difficult to provide an…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on de…
Current methods to estimate object shape-using either vision or touch-generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary contact sensor. The measurement model is posed as a collision-based ta