2 papers
cs.RO2024
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training
Yuni Fuchioka, Cristian C. Beltran-Hernandez, Hai Nguyen +1
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured e…
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…