4 papers · 1 filter
Extremum Seeking Controlled Wiggling for Tactile Insertion
Levi Burner, Pavan Mantripragada, Gabriele M. Caddeo +3
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through…
Embodied Visuomotor Representation
Levi Burner, Cornelia Fermüller, Yiannis Aloimonos
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of…
ViewActive: Active viewpoint optimization from a single image
Jiayi Wu, Xiaomin Lin, Botao He +2
When observing objects, humans benefit from their spatial visualization and mental rotation ability to envision potential optimal viewpoints based on the current observation. This…
FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors
Amir-Hossein Shahidzadeh, Gabriele Caddeo, Koushik Alapati +3
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (u…