5 accepted papers
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partner's intended use. However, many existing approaches neglect the human's post-handover action, relying on assumptions that limit generalizability. To address this gap, w
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision detection and identification pipeline for a quadrupedal manipulator.…
Robots have been successfully used in well-structured and deterministic environments, but they are still unable to function in unstructured environments mainly because of missing reliable real-time systems that integrate perception and control. In this paper, we close the loop between perception and…
n-shot learning, i.e., learning a classifier from only few or even one training samples per class, is the ultimate goal in minimizing the cost of sample acquisition. This is esp. important for active sensing tasks like tactile material classification. Achieving high classification accuracy from only…
Tactile sensing of surface normals is essential for exploration of unknown objects. Many tactile sensors have been developed for contact measurement. However, few of these sensors provide surface orientation, and only up to a limited degree. This paper presents a novel contact and surface orientatio…