Experiments

Tactile-based Adjustment for Two-finger Contact

Sketch for (a) visual data collection and (b) tactile and force data collection. The rotation spans from -45° to 45°, with each increment of 1°.

Experiments on contact plane estimation. Top Row: The visualisation of the normal vector of the estimated plane. Bottom Row: Quantitative plots show that contact planes estimated through tactile perception exhibit superior accuracy compared to those derived from visual and force information.

Thin and flexible object handling

Objects used in our experiments. Top row includes printer paper, coated paper (magazine) and two plastic pocket sheets for comparing against the SOTA methods. The bottom row includes four fabrics with different stiffness and textures, used to test the generalisation ability of our proposed approach.

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Fabric Grasping

fabric2.mp4

fabric1.mp4

fabric4.mp4

fabric3.mp4

Other Applications

other1.mp4

other2.mp4

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