25 citations · 46 across the 9 of their papers we have counts for
9 papers
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
Hao-Shu Fang, Branden Romero, Yichen Xie +9
We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. W…
EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation
Branden Romero, Hao-Shu Fang, Pulkit Agrawal +1
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand ma…
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
Zilin Si, Gu Zhang, Qingwei Ben +4
We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In…
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
Shaoxiong Wang, Yu She, Branden Romero +1
Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-re…
Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular Media
Radhen Patel, Rui Ouyang, Branden Romero +1
In this paper we present an early prototype of the Digger Finger that is designed to easily penetrate granular media and is equipped with the GelSight sensor. Identifying objects b…
SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation
Chen Wang, Shaoxiong Wang, Branden Romero +2
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity…