20 accepted papers
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used for simultaneous localization and mapping. In soft and contin…
Recent advances in machine learning have driven a step-change in robot perception with modalities such as vision, where large amounts of training data are readily available or cheap to collect. However, in tactile perception, the relatively high cost of data collection still largely impedes the adop
Soft robots present significant modelling challenges due to their non-linearity, complex dynamics and potentially intricate geometries. These difficulties in accurate system identification and dynamics modelling limit their applications in precise robotics tasks. Prior modelling approaches typically
For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach that utilizes coarse point clouds obtained from miniaturized VL53L5CX Time-of-Flight (ToF) sensors (tiny LiDARs) to localiz
Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot’s actions. In this paper, we propose a reactive control law that simultaneously utilizes proximity and tactile feedback to perform a pick…
Recent developments in vision-based tactile sensing offer a simple means to enable robots to perceive touch interactions. However, existing sensors are primarily designed for small-scale applications like robotic hands, lacking research on their integration for large-sized robot bodies that can be l…
Intubation is essential for ventilating critically ill patients and involves precise maneuvering of a laryngoscope to place an endotracheal tube (ETT). However, training for this procedure is fraught with challenges. Traditional methods, relying on manikins or training with a single sensing modality…
The Peg-In-Hole (PiH) task performed under un-certain conditions still represents a challenge for autonomous robots. When the peg is not rigidly connected to the robot end-effector, the external forces generated by peg-environment interactions can change the in-hand pose of the peg. This aspect must…
A pneumatic system that transmits power via the force of compressed air is an essential component of an air-driven soft robot. Pneumatic valves are one of the key parts of this system. However, the development of soft or electronics-free valves for soft robotic applications is in its infancy, with o
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance and adaptability of soft robots. Current electronics-free valv
Humans rely on distributed tactile sensing in their hands to achieve robust and dexterous manipulation of delicate objects. Soft robotic hands have received increased attention in recent years due to their adaptability to unknown objects and safe interactions with the environment. However, the integ
The mechanical properties of a sensor strongly affect its tactile sensing capabilities. The role of morphology and stiffness on the quality of the tactile data has already been the subject of several studies, which focus mainly on static sensor designs and design methodologies. However, static desig
Tactile perception is key for robotics applications such as manipulation. However, tactile data collection is time-consuming, especially when compared to vision. This limits the use of the tactile modality in machine learning solutions in robotics. In this paper, we propose a generative model to sim…
Algorithms for tactile data processing heavily rely on the generation of tactile images representing the contact pressure distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robot skin technol
Robots operating in unstructured environments must be capable of safely handling unexpected collisions with objects existing in the surrounding area, possibly without stopping the task execution. This letter proposes a tactile feedback control law allowing the robot to apply bounded contact forces i
Continuum body structures provide unique opportunities for soft robotics, with the infinite degrees of freedom enabling unconstrained and highly adaptive exploration and manipulation. However, the infinite degrees of freedom of continuum bodies makes sensing (both intrinsically and extrinsically) ch
To match the ever increasing standards of fresh products, and the need to reduce waste, we devise an alternative to the destructive and highly variable fruit ripeness estimation by a penetrometer. We propose a fully automatic method to assess the ripeness of mango which is non-destructive, allows th…
During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness roboti
Robotic technologies are being increasingly applied to agriculture, in particular to harvesting. Some types of produce such as iceberg lettuce require additional processing after harvesting in order to satisfy the needs of the end-user or customer. Lettuce must have its outer leaves removed, a task
In this paper a novel multi-modal tactile sensor is presented, featuring a matrix of capacitive pressure sensors, a microphone for acoustic measurements and proximity and ambient light sensor. The sensor is fully embedded and can be easily integrated at mechanical and electrical levels with industri…