115 citations · 379 across the 65 of their papers we have counts for
10 papers · 1 filter
Pose-Based Tactile Servoing: Controlled Soft Touch using Deep Learning
Nathan F. Lepora, John Lloyd
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model fo…
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback
John Lloyd, Nathan F. Lepora
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertain…
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand
Jasper W. James, Nathan F. Lepora
Tactile sensing is used by humans when grasping to prevent us dropping objects. One key facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is f…
Spatio-temporal encoding improves neuromorphic tactile texture classification
Anupam K. Gupta, Andrei Nakagawa, Nathan F. Lepora +1
With the increase in interest in deployment of robots in unstructured environments to work alongside humans, the development of human-like sense of touch for robots becomes importa…
A Biomimetic Tactile Fingerprint Induces Incipient Slip
Jasper W. James, Stephen J. Redmond, Nathan F. Lepora
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of…
Walking on TacTip toes: A tactile sensing foot for walking robots
Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the developmen…