115 citations · 379 across the 65 of their papers we have counts for
8 papers · 2 filters
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora
Robotic touch, particularly when using soft optical tactile sensors, suffers from distortion caused by motion-dependent shear. The manner in which the sensor contacts a stimulus is…
Artificial SA-I and RA-I Afferents for Tactile Sensing of Ridges and Gratings
Nicholas Pestell, Thom Griffith, Nathan F. Lepora
For robot touch to converge with the human sense of touch, artificial transduction should involve biologically-plausible population codes analogous to those of natural afferents. U…
A Robust Controller for Stable 3D Pinching using Tactile Sensing
Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos +3
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on…
Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem
John Lloyd, Yijiong Lin, Nathan F. Lepora
In this paper, our aim is to highlight Tactile Perceptual Aliasing as a problem when using deep neural networks and other discriminative models. Perceptual aliasing will arise wher…
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation
Alex Church, John Lloyd, Raia Hadsell +1
Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tac…
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
Nathan F. Lepora
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robot…