3 papers
cs.RO2020
Tactile Dexterity: Manipulation Primitives with Tactile Feedback
Francois R. Hogan, Jose Ballester, Siyuan Dong +1
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation t…
cs.RO2019
Cable Manipulation with a Tactile-Reactive Gripper
Yu She, Shaoxiong Wang, Siyuan Dong +3
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and in…
cs.RO2019
Tactile-Based Insertion for Dense Box-Packing
Siyuan Dong, Alberto Rodriguez
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSl…