Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active...
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly and manipulation, we present a reconfigurable dual-opposition architecture. Specifically, to support simultaneous grasping of two parts and c...
William Su, Yunosuke Nakamura, Yi-Xiao Wang et al.· 1 citation
LARC is presented, which checks a planned trajectory by bisecting only intervals with an inconclusive clearance test, which reduces computation under a shared certificate model, but 27 of 139 sampled-clear trajectories remained uncertified.
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical in contact-sensitive manipulation, where successful task execution depends not only on visual perception and motion generation, but also on...
Shilin Shan, Chu-Hao Zhou, Rui-Ze Wang et al.· 0 citations
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