Parag Patre

2 accepted papers

2024

TEXterity: Tactile Extrinsic deXterity

Antonia Bronars, Sangwoon Kim, Parag Patre, Alberto Rodriguez

ICRA 2024poster

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans in a receding h…

Cited by 7 Source ↗Scholar ↗

2023

Simultaneous Tactile Estimation and Control of Extrinsic Contact

Sangwoon Kim, Devesh K. Jha, Diego Romeres, Parag Patre, Alberto Rodriguez

ICRA 2023poster

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as balancing an unknown object on a thin rod standing upright. A facto…

Cited by 30 Source ↗Scholar ↗