Search Results - "Lepora, Nathan"

Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review by Lepora, Nathan F.

“…Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A…”
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Embodied choice: how action influences perceptual decision making by Lepora, Nathan F, Pezzulo, Giovanni

“…Embodied Choice considers action performance as a proper part of the decision making process rather than merely as a means to report the decision. The central…”
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Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges by Lepora, Nathan F., Lloyd, John

“…This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of…”
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Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand by James, Jasper Wollaston, Lepora, Nathan F.

“…Tactile sensing is used by humans when grasping to prevent us dropping objects. One key facet of tactile sensing is slip detection, which allows a gripper to…”
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Artificial SA-I and RA-I afferents for tactile sensing of ridges and gratings by Pestell, Nicholas, Griffith, Thom, Lepora, Nathan F

“…For robot touch to reach the capabilities of human touch, artificial tactile sensors may require transduction principles like those of natural tactile…”
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Pose-and-shear-based tactile servoing by Lloyd, John, Lepora, Nathan F.

“…Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their…”
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Slip Detection With a Biomimetic Tactile Sensor by James, Jasper Wollaston, Pestell, Nicholas, Lepora, Nathan F.

“…Slip detection helps to prevent robotic hands from dropping grasped objects and would thus enable complex object manipulation. Here we present a method of…”
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Tactile Sensors for Friction Estimation and Incipient Slip Detection-Toward Dexterous Robotic Manipulation: A Review by Wei Chen, Khamis, Heba, Birznieks, Ingvars, Lepora, Nathan F., Redmond, Stephen J.

“…Humans can handle and manipulate objects with ease; however, human dexterity has yet to be matched by artificial systems. Receptors in our fingers and hands…”
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Artificial SA-I, RA-I and RA-II/vibrotactile afferents for tactile sensing of texture by Pestell, Nicholas, Lepora, Nathan F

“…Robot touch can benefit from how humans perceive tactile textural information, from the stimulation mode to which tactile channels respond, then the tactile…”
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Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning by Lepora, Nathan F., Lloyd, John

“…This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a…”
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From Pixels to Percepts: Highly Robust Edge Perception and Contour Following Using Deep Learning and an Optical Biomimetic Tactile Sensor by Lepora, Nathan F., Church, Alex, de Kerckhove, Conrad, Hadsell, Raia, Lloyd, John

“…Deep learning has the potential to have same the impact on robot touch as it has had on robot vision. Optical tactile sensors act as a bridge between the…”
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One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring by Zhang, Dandan, Fan, Wen, Lloyd, John, Yang, Chenguang, Lepora, Nathan F.

“…Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained…”
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Biomimetic Active Touch with Fingertips and Whiskers by Lepora, Nathan F.

“…This study provides a synthetic viewpoint that compares, contrasts, and draws commonalities for biomimetic perception over a range of tactile sensors and…”
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TacPalm: A Soft Gripper With a Biomimetic Optical Tactile Palm for Stable Precise Grasping by Zhang, Xuyang, Yang, Tianqi, Zhang, Dandan, Lepora, Nathan F.

“…Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to…”
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Degenerate boundaries for multiple-alternative decisions by Baker, Sophie-Anne, Griffith, Thom, Lepora, Nathan F.

“…Integration-to-threshold models of two-choice perceptual decision making have guided our understanding of human and animal behavior and neural processing…”
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Tactile Model O: Fabrication and Testing of a 3D-Printed, Three-Fingered Tactile Robot Hand by James, Jasper W, Church, Alex, Cramphorn, Luke, Lepora, Nathan F

“…Bringing tactile sensation to robotic hands will allow for more effective grasping, along with a wide range of benefits of human-like touch. Here, we present a…”
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Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network by Macdonald, Fraser L. A, Lepora, Nathan F, Conradt, Jörg, Ward-Cherrier, Benjamin

“…Dexterous manipulation in robotic hands relies on an accurate sense of artificial touch. Here we investigate neuromorphic tactile sensation with an event-based…”
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DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch by Lepora, Nathan F., Lin, Yijiong, Money-Coomes, Ben, Lloyd, John

“…Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist…”
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Exploratory Tactile Servoing With Active Touch by Lepora, Nathan F., Aquilina, Kirsty, Cramphorn, Luke

“…A key unsolved problem in tactile robotics is how to combine tactile perception and control to interact robustly and intelligently with the surroundings. Here,…”
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Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard by Church, Alex, Lloyd, John, Hadsell, Raia, Lepora, Nathan

“…Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new…”
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