14 papers
Continuum Robot Localization using Distributed Time-of-Flight Sensors
Spencer Teetaert, Giammarco Caroleo, Marco Pontin +4
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in…
Generalized Task-Driven Design of Soft Robots via Reduced-Order FEM-based Surrogate Modeling
Yao Yao, David Howard, Perla Maiolino
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenario…
Diffusion-based Inverse Model of a Distributed Tactile Sensor for Object Pose Estimation
Ante MariÄ, Giammarco Caroleo, Alessandro Albini +3
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effe…
Representing Data in Robotic Tactile Perception -- A Review
Alessandro Albini, Mohsen Kaboli, Giorgio Cannata +1
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions…
Improving Tactile Gesture Recognition with Optical Flow
Shaohong Zhong, Alessandro Albini, Giammarco Caroleo +2
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addres…
Estimating Scene Flow in Robot Surroundings with Distributed Miniaturized Time-of-Flight Sensors
Jack Sander, Giammarco Caroleo, Alessandro Albini +1
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow…