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We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback.
E. Donlon, S. Dong, M. Liu, J. Li, E. Adelson, and A. Rodriguez, “Gelslim: A high-resolution, compact, robust, and calibrated tactile-sensing finger,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2018, pp. 1927–1934
1934
Earlier work this paper cites.
W. S. Newman, Y. Zhao, and Y.-H. Pao, “Interpretation of force and moment signals for compliant peg-in-hole assembly,” in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164) , vol. 1. IEEE, 2001, pp. 571–576
2001
Earlier work this paper cites.
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, “isam2: Incremental smoothing and mapping using the bayes tree,” The International Journal of Robotics Research , vol. 31, no. 2, pp. 216–235, 2012
2012
Earlier work this paper cites.
F. Dellaert, “Factor graphs and gtsam: A hands-on introduction,” Georgia Institute of Technology, Tech. Rep., 2012
2012
Earlier work this paper cites.
M. Li, Y. Bekiroglu, D. Kragic, and A. Billard, “Learning of grasp adaptation through experience and tactile sensing,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems . Ieee, 2014, pp. 3339–3346
2014
Earlier work this paper cites.
F. Veiga, H. Van Hoof, J. Peters, and T. Hermans, “Stabilizing novel objects by learning to predict tactile slip,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2015, pp. 5065–5072
2015
Earlier work this paper cites.
J. Dong, M. Mukadam, F. Dellaert, and B. Boots, “Motion planning as probabilistic inference using gaussian processes and factor graphs.” in Robotics: Science and Systems , vol. 12, no. 4, 2016
2016
Earlier work this paper cites.
W. Yuan, S. Dong, and E. H. Adelson, “Gelsight: High-resolution robot tactile sensors for estimating geometry and force,” Sensors , vol. 17, no. 12, p. 2762, 2017
2017
Earlier work this paper cites.
S. Dong, D. Ma, E. Donlon, and A. Rodriguez, “Maintaining grasps within slipping bounds by monitoring incipient slip,” in 2019 International Conference on Robotics and Automation (ICRA) . IEEE, 2019, pp. 3818–3824
2019
Earlier work this paper cites.
S. Tian, F. Ebert, D. Jayaraman, M. Mudigonda, C. Finn, R. Calandra, and S. Levine, “Manipulation by feel: Touch-based control with deep predictive models,” in 2019 International Conference on Robotics and Automation (ICRA) . IEEE, 2019, pp. 818–824
2019
Cited alongside, same era.
M. Mukadam, J. Dong, F. Dellaert, and B. Boots, “Steap: simultaneous trajectory estimation and planning,” Autonomous Robots , vol. 43, no. 2, pp. 415–434, 2019
2019
Cited alongside, same era.
A. Paszke, S. Gross, F. Massa, A. Lerer, J. Bradbury, G. Chanan, T. Killeen, Z. Lin, N. Gimelshein, L. Antiga, A. Desmaison, A. Kopf, E. Yang, Z. DeVito, M. Raison, A. Tejani, S. Chilamkurthy, B. Steiner, L. Fang, J. Bai, and S. Chintala, “Pytorch: An imperative style, high-performance deep learning library,” in Advances in Neural Information Processing Systems , vol. 32, 2019
2019
Cited alongside, same era.
R. Kolamuri, Z. Si, Y. Zhang, A. Agarwal, and W. Yuan, “Improving grasp stability with rotation measurement from tactile sensing,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, 2021, pp. 6809–6816
2021
Later among the works it cites.
S. Dong, D. K. Jha, D. Romeres, S. Kim, D. Nikovski, and A. Rodriguez, “Tactile-RL for insertion: Generalization to objects of unknown geometry,” in 2021 International Conference on Robotics and Automation (ICRA) . IEEE, 2021
2021
Later among the works it cites.
F. Dellaert, “Factor graphs: Exploiting structure in robotics,” Annual Review of Control, Robotics, and Autonomous Systems , vol. 4, pp. 141–166, 2021
2021
Later among the works it cites.
S. Yang, G. Chen, Y. Zhang, H. Choset, and F. Dellaert, “Equality constrained linear optimal control with factor graphs,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 9717–9723
2021
Later among the works it cites.
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2020
Cited alongside, same era.
F. R. Hogan, J. Ballester, S. Dong, and A. Rodriguez, “Tactile dexterity: Manipulation primitives with tactile feedback,” in 2020 IEEE international conference on robotics and automation (ICRA) . IEEE, 2020, pp. 8863–8869
2020
Cited alongside, same era.
A. Rodriguez, “The unstable queen: Uncertainty, mechanics, and tactile feedback,” Science Robotics , vol. 6, no. 54, 2021
2021
Cited alongside, same era.
D. Ma, S. Dong, and A. Rodriguez, “Extrinsic contact sensing with relative-motion tracking from distributed tactile measurements,” in 2021 International Conference on Robotics and Automation (ICRA) . IEEE, 2021
2021
Cited alongside, same era.
Y. She, S. Wang, S. Dong, N. Sunil, A. Rodriguez, and E. Adelson, “Cable manipulation with a tactile-reactive gripper,” The International Journal of Robotics Research , 2021
2021
Cited alongside, same era.
I. H. Taylor, S. Dong, and A. Rodriguez, “Gelslim 3.0: High-resolution measurement of shape, force and slip in a compact tactile-sensing finger,” in 2022 International Conference on Robotics and Automation (ICRA) . IEEE, 2022, pp. 10 781–10 787
2022
Later among the works it cites.
S. Wang, M. Lambeta, P.-W. Chou, and R. Calandra, “Tacto: A fast, flexible, and open-source simulator for high-resolution vision-based tactile sensors,” IEEE Robotics and Automation Letters , vol. 7, no. 2, pp. 3930–3937, 2022
2022
Later among the works it cites.
N. Doshi, O. Taylor, and A. Rodriguez, “Manipulation of unknown objects via contact configuration regulation,” in 2022 International Conference on Robotics and Automation (ICRA) , 2022, pp. 2693–2699
2022
Later among the works it cites.
S. Kim and A. Rodriguez, “Active extrinsic contact sensing: Application to general peg-in-hole insertion,” in 2022 International Conference on Robotics and Automation (ICRA) , 2022, pp. 10 241–10 247
2022
Later among the works it cites.