2 papers
cs.RO2024
TEXterity: Tactile Extrinsic deXterity
Antonia Bronars, Sangwoon Kim, Parag Patre +1
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tac…
cs.RO2023
Simultaneous Tactile Estimation and Control of Extrinsic Contact
Sangwoon Kim, Devesh K. Jha, Diego Romeres +2
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling l…