RoboTac 2021
The 3th IEEE/RSJ International Workshop
September 27th, 2021 (LIVE)
New Advances in Tactile Sensation, Interactive Perception, Control, and Learning
A Soft Robotic Perspective on Grasp, Manipulation, & HRI
Best Paper Presentation Award:
Towards a soft robotic, haptic feedback seat for autonomy level transitions in highly-automated vehicles - Jan Peters, Bani Anvari, Annika Raatz and Helge A. Wurdemann. download paper.pdf
*Authors of the accepted papers will be invited to submit the extended version for their articles to a coming special issue journal.
Invited Speakers
Organizers
Accepted Papers
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An Active Extrinsic Contact Sensing for Generalizable Insertion Strategy
Sangwoon Kim and Alberto Rodriguez download paper.pdf
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A Local Filtering Technique for Robot Skin Systems
Alessandro Albini, Giorgio Cannata and Perla Maiolino download paper.pdf
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Active Tapping via Gaussian Process for Efficient Unknown Object Surface Reconstruction
Su Sun and Byung-Cheol Min. download paper.pdf
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Sensor Fusion and Multimodal Learning for Robotic Grasp Verification
Priteshkumar Gohil, Santosh Thoduka and Paul Plöger. download paper.pdf
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Towards a soft robotic, haptic feedback seat for autonomy level transitions in highly-automated vehicles
Jan Peters, Bani Anvari, Annika Raatz and Helge A. Wurdemann. download paper.pdf
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Low-pass filter effects in biological neurons as a feature to facilitate representation of tactile information
Udaya B. Rongala and Henrik Jörntell. download paper.pdf
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Robust Grasping under Uncertainty Employing Tactile Sensors
Luca Lach, Robert Haschke, Francesco Ferro, Helge Ritter download paper.pdf
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Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors
Abhinav Grover, Chrisopher Grebe, Philippe Nadeau and Jonathan Kelly. download paper.pdf
Topics of interest
Human Sense of Touch
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Touch physiology from skin to brain
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Haptic Perception
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Action and Perception Loop
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Perception for Learning
Tactile Sensing Technologies
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Conformable and compliant materials
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Features enabled by conformable sensors
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Biomimetics
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Sensor effects
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Integration and read-out strategies
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Self-healing properties and strategies
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Sensor skins: design, fabrication and integration strategies
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Integration strategies for sensors in robotics
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Enabling technologies for fully integrated robotic systems
Tactile Interactive Perception and Predictive Coding
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Exploitation of contact constraints
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Novel contact models
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Object perception for the exploitation of contact
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Tactile information processing
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Tactile feature extraction / feature learning
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Tactile-based object modelling
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Tactile object localization
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Tactile shape reconstruction and recognition
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Tactile object classification
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Tactile exploration
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Trends in combining of vision and touch sensing
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Roles of vision and touch sensing in different object perception tasks
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Modelling and representation of sensing modalities
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Integration of visio-tactile sensing modalities
Tactile Grasp, Manipulation, & HRI (Soft and conventional Robotic Systems)
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Linear/rotational slip detection
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Grasping planning
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Grasp stability assessment
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Soft manipulation
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In-hand/whole body manipulation
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Tactile planning interplay between touch sensing and vision
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Tactile knowledge/skill transfer
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Tactile transfer learning
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The meaning and function of different sensing modalities in object manipulation
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Sensing and planning in object manipulation
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Multi-robot manipulation and coordination
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Control strategy for object manipulation and collaborative assembly
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Learning object manipulation skills from human demonstration
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Novel approaches to grasp and manipulation planning
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Whole-body, multi-contact planning and control
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Design and characterisations of contact-exploiting, compliant hands
Intended audience
In our proposed workshop we will discuss the most recent approaches in the area of tactile perception and learning in especially soft robotic systems. This is a topic that is not widely represented in the general IROS-2021 conference. The goal of this workshop is to disseminate results and benefits of novel approaches to a wider audience looking for emerging new technologies. We intend to invite well-known experts in these areas to attract a larger set of IROS-2021 attendees and simultaneously be a platform for more junior researchers. This workshop is intended for roboticists working in the areas of tactile sensation, perception, manipulation, and learning in the field of robotics. It is especially aimed at roboticists interested in improving the reliability and autonomy of robotic systems. We hope to bring together outstanding senior and young researchers as well as graduate students to discuss current trends, problems, and opportunities in tactile perception and learning in robotics.
Sponsors
