contact-centric planning 1model predictive control 1tactile sensing 1vision-based control 1whole-arm manipulation 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
The paper introduces TACTIC, a receding‑horizon controller that combines RGB‑D vision and distributed tactile sensing with a contact‑centric predictive model to plan and execute wh…
cs.RO2025
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
Akhil Padmanabha, Jessie Yuan, Tanisha Mehta +10
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairmen…
cs.RO2025
CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control
Ruolin Ye, Shuaixing Chen, Yunting Yan +6
Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm…