Search Results for author:
Found 9 papers, 0 papers with code
Sample-Efficient Learning to Solve a Real-World Labyrinth Game Using Data-Augmented Model-Based Reinforcement Learning
Motivated by the challenge of achieving rapid learning in physical environments, this paper presents the development and training of a robotic system designed to navigate and solve a labyrinth game using model-based reinforcement learning techniques.
Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor
Grasping objects whose physical properties are unknown is still a great challenge in robotics.
Offset-free Model Predictive Control: A Ball Catching Application with a Spherical Soft Robotic Arm
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm.
Robotics Systems and Control Systems and Control
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated.
Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface.
A Vision-based Sensing Approach for a Spherical Soft Robotic Arm
The reliability of the sensing approach is demonstrated by using the sensory feedback to control the orientation of the robotic arm in closed-loop.
Robotics
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials.
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface.
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators
The resulting sensing pipeline runs at 40 Hz in real-time on a standard laptop and is additionally used for closed loop elongation control of the actuator.
