A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of
touch allows recognizing a wide set of properties of a grasped object, such as shape, weight …

JJ Gibson's concept of affordance, one of the central pillars of ecological psychology, is a
truly remarkable idea that provides a concise theory of animal perception predicated on …

During grasping and other in-hand manipulation tasks maintaining a stable grip on the
object is crucial for the task's outcome. Inherently connected to grip stability is the concept of …

Controlling contact with arbitrary, unknown objects defines a fundamental problem for
robotic grasping and in-hand manipulation. In real-world scenarios, where robots interact …

In this work we propose an approach to learn a robust policy for solving the pivoting task.
Recently, several model-free continuous control algorithms were shown to learn successful …

This paper presents a brief review of affordance research in robotics, with special
concentrations on its applications in grasping and manipulation of objects. The concept of …

We present a deep convolutional neural network which is capable to distinguish between
different contact states in robotic manipulation tasks. By integrating spatial and temporal …

There is a large variety of objects and appliances in human environments, such as stoves,
coffee dispensers, juice extractors, and so on. It is challenging for a roboticist to program a …

Significant research efforts have focused on advancing upper limb prostheses, addressing
issues such as dexterity, embodiment, weight, and resistance. These key features require …