Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a
small step towards this grand goal, we demonstrate how to design and learn a simple …

In this paper we focus on the concept of low-dimensional posture subspaces for artificial
hands. We begin by discussing the applicability of a hand configuration subspace to the …

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This
system allows a robot to learn a simple goal-directed gesture and correctly reproduce it …

We present a strategy for grasping of real world objects with two anthropomorphic hands,
the three-fingered 9-DOF hydraulic TUM and the very dextrous 20-DOF pneumatic Bielefeld …

In this paper, we build upon recent advances in neuroscience research which have shown
that control of the human hand during grasping is dominated by movement in a configuration …

Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-
orientation of objects. However, achieving these gaits with arbitrary orientations of the hand …

To operate effectively in complex environments learning agents require the ability to form
useful abstractions, that is, the ability to selectively ignore irrelevant details. Stated in …

Robotic in-hand manipulation has been a longstanding challenge due to the complexity of
modelling hand and object in contact and of coordinating finger motion for complex …

We present a control framework for achieving a robust object grasp and manipulation in
hand. In-hand manipulation remains a demanding task as the object is never stable and task …