47 citations · 142 across the 49 of their papers we have counts for
8 papers · 1 filter
Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing
William van den Bogert, James Lorenz, Xili Yi +2
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and…
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling…
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Youngsun Wi, Andy Zeng, Pete Florence +1
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for…
Visuo-Tactile Transformers for Manipulation
Yizhou Chen, Andrea Sipos, Mark Van der Merwe +1
Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and compleme…
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Miquel Oller, Mireia Planas, Dmitry Berenson +1
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object…
Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
Andrea Sipos, Nima Fazeli
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jo…
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
Youngsun Wi, Pete Florence, Andy Zeng +1
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit,…
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
Sheng Zhong, Nima Fazeli, Dmitry Berenson
Retrieving an object from cluttered spaces suchas cupboards, refrigerators, or bins requires tracking objects with limited or no visual sensing. In these scenarios, contact feedbac…