29 citations · 80 across the 22 of their papers we have counts for
7 papers · 1 filter
Contact-Aware Refinement of Human Pose Pseudo-Ground Truth via Bioimpedance Sensing
Maria-Paola Forte, Nikos Athanasiou, Giulia Ballardini +3
Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have be…
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
Benjamin A. Richardson, Felix Grüninger, Lukas Mack +2
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the pas…
Open-Source Multi-Viewpoint Surgical Telerobotics
Guido Caccianiga, Yarden Sharon, Bernard Javot +6
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and con…
Functionally graded keratin facilitates tactile sensing in elephant whiskers
Andrew K. Schulz, Lena V. Kaufmann, Lawrence T. Smith +6
Keratin composites enable animals to hike with hooves, fly with feathers, and sense with skin. These distinct functions arise from variations in the underlying properties and micro…
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey +4
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation and accurate global localization. While most sensor-fusion approaches a…
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose +2
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use…
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing
Lukas Mack, Felix Grüninger, Benjamin A. Richardson +3
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own ha…