Recent approaches in robot perception follow the insight that perception is facilitated by
interaction with the environment. These approaches are subsumed under the term …

In surgical tumor removal, inaccurate localization can lead to removal of excessive healthy
tissue and failure to completely remove cancerous tissue. Automated palpation with a tactile …

We consider the problem of using real-time feedback from contact sensors to create closed-
loop pushing actions. To do so, we formulate the problem as a partially observable Markov …

We investigate the problem of using contact sensors to estimate the pose of an object during
planar pushing by a fixed-shape hand. Contact sensors are unique because they inherently …

This paper addresses 6-DOF (degree-of-freedom) tactile localization, ie, the pose estimation
of tridimensional objects using tactile measurements. This estimation problem is …

Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water
turbidity, provide promising opportunities for perception and object recognition in …

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the
complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and …

Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water
turbidity, provide promising opportunities for augmenting the capabilities of vision sensors in …

Performing detailed work on objects requires precise localization. Currently humans aid
machines in localization either by direct operation, or implicitly by designing a sequence of …

In this paper, active tactile exploration for object shape estimation is explored. A prior work
suggested to touch the most uncertain part of the estimated shape for minimizing the …