2 papers
cs.RO2024
An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors
Yuni Fuchioka, Masashi Hamaya
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that g…
cs.RO2024
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez +1
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequenc…