4 papers · 1 filter
SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation
Eric T. Chang, Peter Ballentine, Zhanpeng He +8
In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive)…
MiniBEE: A New Form Factor for Compact Bimanual Dexterity
Sharfin Islam, Zewen Chen, Zhanpeng He +8
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectivel…
VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation
Kaidi Zhang, Do-Gon Kim, Eric T. Chang +6
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work,…
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
Zhanpeng He, Yifeng Cao, Matei Ciocarlie
Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and…