Abstract: Systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.

Abstract: Provided are a robotic device and a method for controlling a robotic device for pouring a granular media including obtaining an image of a receiving container, identifying, using the image and a convolutional neural network, a current height of granular media in the receiving container, identifying a terminal height of the granular media in the receiving container, determining an input trajectory signal to the robotic device for pouring a non-granular media to the terminal height of the granular media based on the current height of the granular media, determining a wrist tilt command signal by modifying the input trajectory signal using a square wave that is based on a type of the granular media, and controlling the robotic device to tilt and vibrate a source container according to the wrist tilt command signal.

Abstract: A method of estimating an amount of liquid poured from a container includes receiving a tactile signal detected by at least one tactile sensor of an end effector holding the container containing the liquid; receiving a joint signal including an angular position, angular velocity, and torque of a joint connected to the end effector; and estimating, based on the tactile signal and the joint signal, the amount of liquid poured from the container.

Abstract: Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. The proposed sensors include a continuous volume of soft material, e.g., a transparent polymer, and light emitting diodes configured to emit light into the transparent volume that can be received by photodetectors. The location and depth of indentations can be measured between all pairs of light emitting diodes and photodetectors in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms.

Abstract: Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. In contrast, proposed sensor includes a continuous volume of soft material, e.g., a piezoresistive elastomer with a number of terminals embedded inside. Piezoresistive effects can be measured between all pairs of terminals in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms. Submillimeter median accuracy can be demonstrated in locating contact on a 10 mm by 16 mm sensor using only four terminals (creating six unique pairs).

Abstract: Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. The proposed sensors include a continuous volume of soft material, e.g., a transparent polymer, and light emitting diodes configured to emit light into the transparent volume that can be received by photodetectors. The location and depth of indentations can be measured between all pairs of light emitting diodes and photodetectors in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms.

Abstract: Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each delivering an individual, isolated response to a stimulus. In contrast, proposed sensor includes a continuous volume of soft material, e.g., a piezoresistive elastomer with a number of terminals embedded inside. Piezoresistive effects can be measured between all pairs of terminals in the set, and this rich signal set can contain the information needed to pinpoint contact location with high accuracy using regression algorithms. Submillimeter median accuracy can be demonstrated in locating contact on a 10 mm by 16 mm sensor using only four terminals (creating six unique pairs).