4 papers · 1 filter
FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation
Zinan Li, Yiyang Ling, Yuming Gu +8
The sense of touch is central to manipulation, especially when vision is occluded or ambiguous. Although combining vision and touch improves manipulation, learning robust visuo-tac…
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…
Compact LED-Based Displacement Sensing for Robot Fingers
Amr El-Azizi, Sharfin Islam, Pedro Piacenza +3
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses L…
Task-Based Design and Policy Co-Optimization for Tendon-driven Underactuated Kinematic Chains
Sharfin Islam, Zhanpeng He, Matei Ciocarlie
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipula…