47 citations · 119 across the 5 of their papers we have counts for
6 papers · 1 filter
Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip
Siyuan Dong, Daolin Ma, Elliott Donlon +1
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures…
Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM
Daolin Ma, Elliott Donlon, Siyuan Dong +1
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and us…
Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations
Francois R. Hogan, Maria Bauza, Oleguer Canal +2
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching…
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
Elliott Donlon, Siyuan Dong, Melody Liu +3
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integ…
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
Andy Zeng, Shuran Song, Kuan-Ting Yu +18
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the s…
A Summary of Team MIT's Approach to the Amazon Picking Challenge 2015
Kuan-Ting Yu, Nima Fazeli, Nikhil Chavan-Dafle +4
The Amazon Picking Challenge (APC), held alongside the International Conference on Robotics and Automation in May 2015 in Seattle, challenged roboticists from academia and industry…