115 citations · 379 across the 65 of their papers we have counts for
72 papers
Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs
Martijn B. J. Brummelhuis, Nathan F. Lepora, Salua Hamaza
Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclinat…
Tactile Robotics: Past and Future
Nathan F. Lepora
What is the future of tactile robotics? To help define that future, this article provides a historical perspective on tactile sensing in robotics from the wealth of knowledge and e…
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
Harrison Field, Max Yang, Yijiong Lin +3
Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critica…
SimShear: Sim-to-Real Shear-based Tactile Servoing
Kipp McAdam Freud, Yijiong Lin, Nathan F. Lepora
We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising f…
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
DexiTac: Soft Dexterous Tactile Gripping
Chenghua Lu, Kailuan Tang, Max Yang +2
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even fo…