61 citations · 112 across the 11 of their papers we have counts for
11 papers
SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation
Eric T. Chang, Peter Ballentine, Zhanpeng He +8
In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive)…
MiniBEE: A New Form Factor for Compact Bimanual Dexterity
Sharfin Islam, Zewen Chen, Zhanpeng He +8
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectivel…
Compact LED-Based Displacement Sensing for Robot Fingers
Amr El-Azizi, Sharfin Islam, Pedro Piacenza +3
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses L…
Pouring by Feel: An Analysis of Tactile and Proprioceptive Sensing for Accurate Pouring
Pedro Piacenza, Daewon Lee, Volkan Isler
As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pour…
VFAS-Grasp: Closed Loop Grasping with Visual Feedback and Adaptive Sampling
Pedro Piacenza, Jiacheng Yuan, Jinwook Huh +1
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close t…
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
Vasileios Vasilopoulos, Suveer Garg, Pedro Piacenza +2
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchic…
A Sensorized Multicurved Robot Finger with Data-driven Touch Sensing via Overlapping Light Signals
Pedro Piacenza, Keith Behrman, Benedikt Schifferer +2
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have…
Data-driven Super-resolution on a Tactile Dome
Pedro Piacenza, Sydney Sherman, Matei Ciocarlie
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration…
Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor
Pedro Piacenza, Weipeng Dang, Emily Hannigan +4
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This app…
Touch Sensors with Overlapping Signals: Concept Investigation on Planar Sensors with Resistive or Optical Transduction
Pedro Piacenza, Emily Hannigan, Clayton Baumgart +8
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. Thi…
Contact Localization through Spatially Overlapping Piezoresistive Signals
Pedro Piacenza, Yuchen Xiao, Steve Park +2
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional appro…