Siddharth Rupavatharam — accepted AI-conference papers

2023

AmbiSense: Acoustic Field Based Blindspot-Free Proximity Detection and Bearing Estimation

Siddharth Rupavatharam, Xiaoran Fan, Caleb Escobedo, Daewon Lee, Larry Jackel, Richard Howard +3

IROS 2023poster

In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-fre…

Cited by 3 Source ↗Scholar ↗

2023

SonicFinger: Pre-touch and Contact Detection Tactile Sensor for Reactive Pregrasping

Siddharth Rupavatharam, Caleb Escobedo, Daewon Lee, Colin Prepscius, Larry Jackel, Richard Howard +1

ICRA 2023poster

Robot end effectors with proximity detection and contact sensing capabilities can reactively position the gripper to align objects and ensure successful grasps. In this paper, we introduce SonicFinger, an acoustic aura based sensing system capable of full-surface pre-touch and contact sensing. A sin…

Cited by 9 Source ↗Scholar ↗