6 accepted papers
We propose an autonomous grasping pipeline that relies on geometric information extracted from segmented point cloud data. This is in contrast to many recent approaches leveraging deep learning and thus relying on a rather large amount of training samples. We argue that the proposed geometric approa…
We present our second generation tactile sensor for the Shadow Dexterous Hand's palm. We were able to significantly improve the tactile sensor characteristics by utilizing our latest barometer-based tactile sensing technology with linear (R2 ≥ 0.9996) sensor output and no noticeable hysteresis. The…
Our fingernails help us to accomplish a variety of manual tasks, but surprisingly only a few robotic hands are equipped with nails. In this paper, we present a sensorized fingernail for mechatronic hands that can capture static and dynamic interaction forces with the nail. Over the course of several…
We present a novel force-limitation algorithm to protect fragile robot actuation and transmission systems (like tendon-driven systems) from early wear-out. Inspired by human muscle fatigue, we model artificial actuator fatigue by integrating applied forces over time, gradually limiting applicable fo…
The advent of advanced tactile sensing technology triggered the development of methods to employ them for grasp evaluation, online slip detection, and tactile servoing. In contrast to recent approaches to slip detection, distinguishing slip from non-slip conditions, we consider the more difficult ta…
We present a novel, soft, tactile skin composed of a fabric-based, stretchable sensor technology based on the piezoresistive effect. Softness is achieved by a combination of a soft silicone padding covered by a skin of more durable, tearproof silicone with an imprinted surface pattern mimicking huma…