← Back to Benchmarks
simmediummanipulation-datametric · varies
Vibro-Sense: Robust Vibration-based Impulse Response Localization and Trajectory Tracking for Robotic Hands
Description
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic sensing. By equipping a robotic hand with seven low-cost piezoelectric microphones and leveraging an Audio Spectrogram Transformer, we decode the vibrational signatures generated during physical interaction. Extensive evaluation across stationary and dynamic