Papers Contact Detection
“Contact Detection” 태그가 달린 논문 45편 · 필터 해제
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3…
Domain GeneralizationContact DetectionA Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains challenging. We present a model-based strateg…
Contact DetectionLearning Contact Representation for Leg Odometry
The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the …
Representation LearningContact DetectionTactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprio…
Contact DetectionOCELOT: Odometry and Contact Estimation for Legged Robots
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pipeline based on an Error-State EKF (ESEKF…
Contact DetectionImproving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of…
Contact DetectionInclusive AI for Group Interactions: Predicting Gaze-Direction Behaviors in People with Intellectual and Developmental Disabilities
Artificial agents that support human group interactions hold great promise, especially in sensitive contexts such as well-being promotion and therapeutic interventions. However, current systems struggle to mediate group …
Contact DetectionA Learning-Based Approach for Contact Detection, Localization, and Force Estimation of Continuum Manipulators With Integrated OFDR Optical Fiber
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation mak…
Contact DetectionDesign, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contac…
Contact DetectionOmnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs
Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclination using conventional sensing methods, …
Contact DetectionSimultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promi…
Robot ManipulationContact DetectionA Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which incr…
Contact DetectionA Contact-Driven Framework for Manipulating in the Blind
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch…
Contact DetectionAdaptive Invariant Extended Kalman Filter for Legged Robot State Estimation
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state es…
Contact DetectionAdaptive Motion Planning via Contact-Based Intent Inference for Human-Robot Collaboration
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inf…
Contact DetectionMotion PlanningTactile Gesture Recognition with Built-in Joint Sensors for Industrial Robots
While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboration (HRC), this paper explores deep learning methods relying solely on a robot's built-in joint sensors, eliminati…
Gesture RecognitionContact DetectionA Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of retinal veins, coup…
Contact DetectionGraph Neural Network Surrogates for Contacting Deformable Bodies with Necessary and Sufficient Contact Detection
Surrogate models for the rapid inference of nonlinear boundary value problems in mechanics are helpful in a broad range of engineering applications. However, effective surrogate modeling of applications involving the con…
Graph Neural NetworkContact DetectionLeadership Assessment in Pediatric Intensive Care Unit Team Training
This paper addresses the task of assessing PICU team's leadership skills by developing an automated analysis framework based on egocentric vision. We identify key behavioral cues, including fixation object, eye contact, …
Contact Detectionobject-detectionObject DetectionLearning Dense Hand Contact Estimation from Imbalanced Data
Hands are essential to human interaction, and understanding contact between hands and the world can promote comprehensive understanding of their function. Recently, there have been growing number of hand interaction data…
Contact DetectionDense contact estimation