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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…