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cs.RO2026
Geometric Reconstruction of Extrinsic Contact Trajectories using Tactile Sensing and Proprioception for Tool Manipulation
Seojung Min, Yoonjin Kim, Jeong-Jung Kim +1
Tactile sensing enables robots to perceive rich contact information at the grasp, supporting tasks such as object recognition, in-hand pose estimation, and slip detection. However,…
cs.RO2025
Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation
Jinseong Park, Jeong-Jung Kim, Doo-Yeol Koh
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm…