47 citations · 142 across the 49 of their papers we have counts for
4 papers · 1 filter
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Mark Van der Merwe, Youngsun Wi, Dmitry Berenson +1
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural…
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
Xili Yi, Nima Fazeli
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we p…
MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback
Andrea Sipos, Nima Fazeli
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of…
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
Sheng Zhong, Nima Fazeli, Dmitry Berenson
This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in fr…