We aim to provide our robots with accurate and robust object pose estimates by taking advantage of tactile, geometric, and physical information.

Our experience during the DARPA Robotics Challenge highlighted that modern robots and their algorithms do not react well to unpredictable or poorly modeled contact. One solution to this problem is to improve our robots' ability to sense and understand its contact situation at each moment. By taking advantage of the information and structure supplied by contact sensors and the physics of contact, we aim to improve our robots' ability to perceive the world.

Research Areas