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...
A temperature-coupled viscoelastic force representation is proposed, together with a physics-informed learning model, to reconstruct the force trend and provide explicit compensation during holding, together enabling stable, sustained grasping with soft robotic hands.
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.
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel...
