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RoTip: A Finger-Shaped Tactile Sensor with Active Rotation Capability
Xuyang Zhang, Jiaqi Jiang, Shan Luo
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the…
TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation
Zhuo Chen, Ni Ou, Xuyang Zhang +1
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the cost…
A Case Study on Visual-Audio-Tactile Cross-Modal Retrieval
Jagoda Wojcik, Jiaqi Jiang, Jiacheng Wu +1
Cross-Modal Retrieval (CMR), which retrieves relevant items from one modality (e.g., audio) given a query in another modality (e.g., visual), has undergone significant advancements…
Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors
Zhuo Chen, Ni Ou, Jiaqi Jiang +1
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact f…
RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors
Jiaqi Jiang, Xuyang Zhang, Daniel Fernandes Gomes +2
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or…