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09/23/2021
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 ...
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03/12/2021
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 ...
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02/14/2021
Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots
In this thesis we are interested in applying distributed estimation, con...
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01/07/2021
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...
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12/21/2020
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 ab...
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12/11/2020
A Vision-based Sensing Approach for a Spherical Soft Robotic Arm
Sensory feedback is essential for the control of soft robotic systems an...
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11/09/2020
A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm
This paper presents the application of a learning control approach for t...
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03/05/2020
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...
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10/31/2019
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor
This paper describes the design of a multi-camera optical tactile sensor...
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09/19/2019
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators
This paper presents a vision-based sensing approach for a soft linear ac...
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09/09/2019
Ground truth force distribution for learning-based tactile sensing: a finite element approach
Skin-like tactile sensors provide robots with rich feedback related to t...
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01/29/2019
Iterative Learning Control for Fast and Accurate Position Tracking with a Soft Robotic Arm
This paper presents an iterative learning control scheme to improve the ...
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12/07/2018