Zobrazeno 1 - 10
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pro vyhledávání: '"Adelson, P"'
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
Early prediction of seizures and timely interventions are vital for improving patients' quality of life. While seizure prediction has been shown in software-based implementations, to enable timely warnings of upcoming seizures, prediction must be don
Externí odkaz:
http://arxiv.org/abs/2409.04838
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme centered ar
Externí odkaz:
http://arxiv.org/abs/2408.06265
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
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight,
Externí odkaz:
http://arxiv.org/abs/2403.14887
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