5 papers
TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments
Shivani Kamtikar, Chung Hee Kim, Camilla Tabasso +3
Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile explor…
THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati +2
Manipulation in confined environments, such as threading a manipulator through narrow apertures, remains a fundamental challenge, especially for conventional rigid robots. Hybrid r…
HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
Shivani Kamtikar, Kendall Koe, Justin Wasserman +5
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptabili…
Grasp, Slide, Roll: Comparative Analysis of Contact Modes for Tactile-Based Shape Reconstruction
Chung Hee Kim, Shivani Kamtikar, Tye Brady +2
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acqui…
Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception
Kendall Koe, Poojan Kalpeshbhai Shah, Benjamin Walt +7
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems pe…