BEGIN:VCALENDAR
VERSION:2.0
PRODID:-//Penn Engineering Events - ECPv6.16.3//NONSGML v1.0//EN
CALSCALE:GREGORIAN
METHOD:PUBLISH
X-WR-CALNAME:Penn Engineering Events
X-ORIGINAL-URL:https://seasevents.nmsdev7.com
X-WR-CALDESC:Events for Penn Engineering Events
REFRESH-INTERVAL;VALUE=DURATION:PT1H
X-Robots-Tag:noindex
X-PUBLISHED-TTL:PT1H
BEGIN:VTIMEZONE
TZID:America/New_York
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20230312T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20231105T060000
END:STANDARD
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20240310T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20241103T060000
END:STANDARD
BEGIN:DAYLIGHT
TZOFFSETFROM:-0500
TZOFFSETTO:-0400
TZNAME:EDT
DTSTART:20250309T070000
END:DAYLIGHT
BEGIN:STANDARD
TZOFFSETFROM:-0400
TZOFFSETTO:-0500
TZNAME:EST
DTSTART:20251102T060000
END:STANDARD
END:VTIMEZONE
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20240813T101500
DTEND;TZID=America/New_York:20240813T111500
DTSTAMP:20260603T101922
CREATED:20240801T185343Z
LAST-MODIFIED:20240801T185343Z
UID:11783-1723544100-1723547700@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Towards Understanding Tactile Sensing Across the Robot Manipulation Stack"
DESCRIPTION:Humans are exceptionally skilled at manipulating a diverse range of objects\, apparent from the order of magnitude difference in sizes\, weight distributions\, stiffnesses\, and geometries of items we use on a daily basis. For robots to seamlessly integrate into a world centered around human dexterity\, they must also possess comparable manipulation abilities. My research aims to address this challenge by exploring and understanding how tactile sensing can contribute to robot manipulation across the stack in sensor design\, perception\, and control. First\, we leverage a selectively transmissive soft membrane for a novel tactile and proximity sensor that offers uncompromised spatial resolution in both modalities. Then\, we explore how to fuse the tactile and proximity modalities to extract contact patches from extreme deformations of the soft sensing surface\, extending functionality to new deformation regimes. Finally\, I will conclude with our work on an RL-tractable tactile skin model that enables zero-shot sim2real transfer of ternary shear and binary normal forces\, which we use to develop an RL policy for dexterous in-hand translation.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-towards-understanding-tactile-sensing-across-the-robot-manipulation-stack/
LOCATION:Towne 337
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
END:VCALENDAR