2 papers
cs.RO2026
Visuotactile and Explicitly Force-Controlled Robotic Ultrasound for Abdominal Volumetric Reconstruction
Adrian Piedra, R Brooke Jeffrey, Oussama Khatib
In this paper, we present a robotic ultrasound acquisition system that integrates stereo vision, touch-based feedback, and expert-informed strategies to perform autonomous and adap…
cs.RO2022
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation
Elena Galbally, Adrian Piedra, Cynthia Brosque +1
Even the most robust autonomous behaviors can fail. The goal of this research is to both recover and collect data from failures, during autonomous task execution, so they can be pr…