226 citations · 490 across the 18 of their papers we have counts for
7 papers · 1 filter
Augmentation for Learning From Demonstration with Environmental Constraints
Xing Li, Manuel Baum, Oliver Brock
We introduce a Learning from Demonstration (LfD) approach for contact-rich manipulation tasks with articulated mechanisms. The extracted policy from a single human demonstration ge…
Passive and Active Acoustic Sensing for Soft Pneumatic Actuators
Vincent Wall, Gabriel Zöller, Oliver Brock
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actu…
A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing
Vincent Wall, Oliver Brock
We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile informati…
One Object at a Time: Accurate and Robust Structure From Motion for Robots
Aravind Battaje, Oliver Brock
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is t…
"The World Is Its Own Best Model": Robust Real-World Manipulation Through Online Behavior Selection
Manuel Baum, Oliver Brock
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to o…
Surprisingly Robust In-Hand Manipulation: An Empirical Study
Aditya Bhatt, Adrian Sieler, Steffen Puhlmann +1
We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robust…
RBO Hand 3 -- A Platform for Soft Dexterous Manipulation
Steffen Puhlmann, Jason Harris, Oliver Brock
We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to fa…