7 accepted papers
Vision-based tactile sensors are highly promising for enabling robots to perform dexterous, contact-rich manipulation tasks by providing high-resolution tactile data. Recent studies have attempted to implement shape reconstruction and force estimation capabilities for sensors with omnidirectional se…
The Koopman operator framework has shown promising results in enabling the analysis of nonlinear dynamics into an infinite-dimensional linear representation. Koopman direct encoding (KDE) is a model-based approach that utilizes inner products and compositions in a Hilbert space to compute the Koopma
When manipulating an object, a robot must recognize not only the parts it directly grasps but also the surfaces in contact with the environment, which we refer to as extrinsic contact surfaces. These surfaces directly affect how the object interacts with its environment, and accurate surface estimat
Dexterous robotic grasping gains great benefits from tactile sensation, but delicate object exploration by tactile information is challenged by difficulty in rich and efficient data production. In this letter, we propose a tactile-based in-hand object perception approach, empowered by a sim-to-real
Data-driven methods have been successfully applied to images from vision-based tactile sensors to fulfill various manipulation tasks. Nevertheless, these methods remain inefficient because of the lack of methods for simulating the sensors. Relevant research on simulating vision-based tactile sensors
Vision-based tactile sensors provide diverse information of external tactile stimuli on the skin of sensors using both marker and reflective membrane images. However, when markers and reflective membranes are used concurrently, conventional opaque markers inevitably disturb the camera’s view of the
Humans perform grasping by breaking down the task into a series of action phases, where the transitions between the action phases are based on the comparison between the predicted tactile events and the actual tactile events. The dependency on tactile sensation in grasping allows humans to grasp obj…