Survey of learning-based approaches for robotic in-hand manipulation
AI Weinberg, A Shirizly, O Azulay… - Frontiers in Robotics and …, 2024 - frontiersin.org
Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
Survey of Learning Approaches for Robotic In-Hand Manipulation
Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …
Learning hierarchical control for robust in-hand manipulation
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 …
modelling hand and object in contact and of coordinating finger motion for complex …
Vision-based model predictive control for within-hand precision manipulation with underactuated grippers
Precision manipulation with underactuated hands is a challenging problem due to difficulties
in obtaining precise gripper, object and contact models. Using vision feedback provides a …
in obtaining precise gripper, object and contact models. Using vision feedback provides a …
Learning haptic-based object pose estimation for in-hand manipulation control with underactuated robotic hands
Unlike traditional robotic hands, underactuated compliant hands are challenging to model
due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually …
due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually …
Learning a state transition model of an underactuated adaptive hand
Fully actuated multifingered robotic hands are often expensive and fragile. Low-cost
underactuated hands are appealing but present challenges due to the lack of analytical …
underactuated hands are appealing but present challenges due to the lack of analytical …
Soft robotic gripper driven by flexible shafts for simultaneous grasping and in-hand cap manipulation
Performing a successful robotic grasping to uncertain objects in unstructured environments
is challenging. This study presents a new compliant soft robotic gripper for objects handling …
is challenging. This study presents a new compliant soft robotic gripper for objects handling …
Learning modes of within-hand manipulation
In this work, we investigate methods to detect four phenomena (modes) that occur during
prehensile fingertip-based within-hand manipulation without the use of tactile sensors. By …
prehensile fingertip-based within-hand manipulation without the use of tactile sensors. By …
Robust precision manipulation with simple process models using visual servoing techniques with disturbance rejection
This paper presents a high-performance vision-based precision manipulation technique that
does not rely on an object, contact, or gripper model, which are challenging and often times …
does not rely on an object, contact, or gripper model, which are challenging and often times …
Modeling and evaluation of robust whole-hand caging manipulation
Human in-hand dexterity can be highly fluid and unstructured, with multiple phalanxes
breaking and re-establishing contact during any given task. In contrast, prevailing research …
breaking and re-establishing contact during any given task. In contrast, prevailing research …