3 papers
cs.RO2024
Tactile-based force estimation for interaction control with robot fingers
Elie Chelly, Andrea Cherubini, Philippe Fraisse +2
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the m…
cs.RO2024
Fingertip Contact Force Direction Control using Tactile Feedback
Dounia Kitouni, Elie Chelly, Mahdi Khoramshahi +1
The human hand is an immensely sophisticated tool adept at manipulating and grasping objects of unknown characteristics. Its capability lies in perceiving interaction dynamics thro…
cs.RO2024
Speeding up 6-DoF Grasp Sampling with Quality-Diversity
Johann Huber, François Hélénon, Mathilde Kappel +4
Recent advances in AI have led to significant results in robotic learning, including natural language-conditioned planning and efficient optimization of controllers using generativ…