Zobrazeno 1 - 10
of 158
pro vyhledávání: '"Adelson, Edward H."'
Autor:
Tippur, Megha H., Adelson, Edward H.
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work well with
Externí odkaz:
http://arxiv.org/abs/2409.13649
This paper presents T3: Transferable Tactile Transformers, a framework for tactile representation learning that scales across multi-sensors and multi-tasks. T3 is designed to overcome the contemporary issue that camera-based tactile sensing is extrem
Externí odkaz:
http://arxiv.org/abs/2406.13640
Autor:
Liu, Sandra Q., Adelson, Edward H.
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human hands greatly benefit from their central fold and soft surface. As such,
Externí odkaz:
http://arxiv.org/abs/2404.08227
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However, co-designing complia
Externí odkaz:
http://arxiv.org/abs/2403.04638
Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in different
Externí odkaz:
http://arxiv.org/abs/2402.02511
Autor:
Zhao, Jialiang, Adelson, Edward H.
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger, with an ext
Externí odkaz:
http://arxiv.org/abs/2309.10886
Autor:
Zhao, Jialiang, Adelson, Edward H.
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous elements to ob
Externí odkaz:
http://arxiv.org/abs/2309.10885
Autor:
Tippur, Megha H., Adelson, Edward H.
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map reconstructions
Externí odkaz:
http://arxiv.org/abs/2304.04268
We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger contains two cam
Externí odkaz:
http://arxiv.org/abs/2303.17935
The synthesis of tactile sensing with compliance is essential to many fields, from agricultural usages like fruit picking, to sustainability practices such as sorting recycling, to the creation of safe home-care robots for the elderly to age with dig
Externí odkaz:
http://arxiv.org/abs/2303.14883