76 citations · 237 across the 17 of their papers we have counts for
5 papers · 1 filter
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor
Camill Trueeb, Carmelo Sferrazza, Raffaello D'Andrea
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This informatio…
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators
Peter Werner, Matthias Hofer, Carmelo Sferrazza +1
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the…
Ground truth force distribution for learning-based tactile sensing: a finite element approach
Carmelo Sferrazza, Adam Wahlsten, Camill Trueeb +1
Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information…
A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications
Michael Muehlebach, Raffaello D'Andrea
This article describes an approach for parametrizing input and state trajectories in model predictive control. The parametrization is designed to be invariant to time shifts, which…
Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm
Matthias Hofer, Lukas Spannagl, Raffaello D'Andrea
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneu…