10 papers
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
Design and Human Evaluation of Tactile Withdrawal Reflexes for a Skin-Covered Robot Arm
Laura Babayeva, Lukas Rustler, Matej Hoffmann
Nociception is a protective biological mechanism that links harmful stimulation to a reaction. This paper investigates artificial nociception for a robotic arm with whole-body tact…
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
Lukas Rustler, Matej Hoffmann
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation…
Simulating Infant First-Person Sensorimotor Experience via Motion Retargeting from Babies to Humanoids
Francisco M. López, Hoshinori Kanazawa, Ondrej Fiala +8
Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only…
No Need to Look! Locating and Grasping Objects by a Robot Arm Covered with Sensitive Skin
Karel Bartunek, Lukas Rustler, Matej Hoffmann
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In t…
Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics
Lukas Rustler, Matej Hoffmann
We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing i…