3 papers
cs.RO2026
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
Tatsuya Kamijo, Mai Nishimura, Cristian C. Beltran-Hernandez +2
Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability,…
cs.RO2024
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
Malek Aburub, Cristian C. Beltran-Hernandez, Tatsuya Kamijo +1
Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging…
cs.RO2024
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System
Tatsuya Kamijo, Cristian C. Beltran-Hernandez, Masashi Hamaya
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands,…