4 accepted papers
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned experience in tandem with vision and non-prehensile tactile s
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives— burrowing and excavating—that can fluidize the scene to unjam obstacles and…
When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused on the spatio-temporal distrib…
We present a highly conformable stretchable sensory skin made of soft components. The skin uses low pressure pneumatic taxels and stretchable channels to conduct pressure signals to off-board micro-electromechanical systems (MEMS) pressure sensors. The force sensing range captures down to 0.01 N and