7 citations · 13 across the 3 of their papers we have counts for
10 papers · 1 filter
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Siyuan Dong, Devesh K. Jha, Diego Romeres +3
Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly lim…
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
Daolin Ma, Siyuan Dong, Alberto Rodriguez
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed ta…
GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
Ian Taylor, Siyuan Dong, Alberto Rodriguez
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor fo…
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…
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…
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…