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Robotic grasping has been hindered by the inability of robots to perceive unstructured environments. Because these environments can be complex or dynamic, it is important to obtain additional and precise sensing information just before grasping. This paper expands upon the pretouch modality by introducing a transmissive optical sensor. It can unambiguously(More)
Optical depth cameras, including both time-of-flight and structured-light sensors, have led to dramatic improvements in robot sensing and perception. We propose the use of millimeter-wave (mmW) radar as an important complement to optical sensors. While the millimeter wavelengths of radar sensors do not support as high resolution as the nanometer wavelength(More)
The primary focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task — solving the Rubik's(More)
—We first describe a robot that solves the Rubik's cube using separate task and motion planning with sensor-enabled closed-loop execution. The task solver uses iterative deepening A-star to plan the sequence of cube moves. Then a special-purpose grasp planner and controller places the manipulator hands on the cube to execute the task plan. The task requires(More)
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