16 accepted papers
Coordinate Measuring Machines (CMMs) are widely used for high-precision inspection of industrial parts, particularly in scenarios where visual systems are ineffective or cost-prohibitive. However, conventional CMMs rely on CAD model priors and user-defined probing paths, which limit their applicabil…
Coordinate Measuring Machines (CMMs) are widely used for high-precision inspection of industrial parts, particularly in scenarios where visual systems are ineffective or cost-prohibitive. However, conventional CMMs rely on CAD model priors and user-defined probing paths, which limit their applicabil
Non-prehensile manipulation offers a robust alternative to traditional pick-and-place methods for object repositioning. However, learning such skills with dexterous, multi-fingered hands remains largely unexplored, leaving their potential for stable and efficient manipulation underutilized. Progress…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between fidelity and computational cost of soft-body simulations. To…
Recent advancements in virtual reality and robotic teleoperation have greatly increased the variety of haptic information that must be conveyed to users. While existing haptic devices typically provide unimodal feedback to enhance situational awareness, a gap remains in their ability to deliver rich
Recent advances in visuotactile sensors increasingly employ biomimetic curved surfaces to enhance sensorimotor capabilities. Although such curved visuotactile sensors enable more conformal object contact, their perceptual quality is often degraded by non-uniform illumination, which reduces reconstru…
Designing robotic manipulators often requires balancing dexterity, speed, and payload capacity. While traditional serial-link and cable-driven manipulators offer high dexterity, they struggle to concurrently achieve high speed, and often lack the strength and stiffness required for many applications…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their high-quality feedback. However, a significant gap remains in the de
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Recent advancements in robotic hardware and embodied AI algorithms have expanded the range of tasks robots can perform. However, current systems still struggle wi…
Endowing the curved surfaces of rounded vision-based tactile fingers is essential for dexterous robotic manipulation, as they offer more sufficient contact with the environment. However, current rounded designs are constrained by a low sensing frequency (30–60 Hz) and the need for recalibration when
Tactile perception is crucial for robots to interact effectively with their environments, particularly in cluttered settings or when visual sensing is unavailable. However, a major limitation is the insufficient coverage of tactile sensors on current robots, which makes navigating cluttered spaces c
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile sensing in such skill learning processes, limiting the deve
Humans naturally perform bimanual skills to handle large and heavy objects. To enhance robots' object manipulation capabilities, generating effective bimanual grasp poses is essential. Nevertheless, bimanual grasp synthesis for dexterous hand manipulators remains underexplored. To bridge this gap, w
Handling fragile objects requires minimally invasive interaction skills in order to avoid any permanent deformation, alternation or damages. Such need is often required in tactile exploration tasks. In this paper, we propose an innovative whisker manipulator (COMPlacent), which is designed to accomp…
Remote, hazardous, and extreme exploration missions require robots to be equipped with on-board sensors for rich and heterogeneous information during deployment. In such tasks, path planning can directly affect the quality and quantity of the observations obtained under temporal and energetic constr
Planning object manipulation policies based on tactile observations alone is a challenging task due to the multi-factorial variances in the measured point cloud (e.g. sparsity, missing regions, rotation, etc.) and the limited sensory information available through tactile sensing. Nevertheless, the m