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Adding internal audio sensing to internal vision enables human-like in-hand fabric recognition with soft robotic fingertips
Iris Andrussow, Jans Solano, Benjamin A. Richardson +2
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patte…
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
Benjamin A. Richardson, Felix Grüninger, Lukas Mack +2
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the pas…
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose +2
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use…
Open-Source Multi-Viewpoint Surgical Telerobotics
Guido Caccianiga, Yarden Sharon, Bernard Javot +6
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and con…
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey +4
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation and accurate global localization. While most sensor-fusion approaches a…
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing
Lukas Mack, Felix Grüninger, Benjamin A. Richardson +3
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own ha…