115 citations · 128 across the 16 of their papers we have counts for
4 papers · 1 filter
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…
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
Nathan F. Lepora, Andrew Stinchcombe, Chris Ford +5
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, wit…