From machine learning to robotics: Challenges and opportunities for embodied intelligence
Machine learning has long since become a keystone technology, accelerating science and
applications in a broad range of domains. Consequently, the notion of applying learning …
applications in a broad range of domains. Consequently, the notion of applying learning …
Rotating without seeing: Towards in-hand dexterity through touch
Tactile information plays a critical role in human dexterity. It reveals useful contact
information that may not be inferred directly from vision. In fact, humans can even perform in …
information that may not be inferred directly from vision. In fact, humans can even perform in …
Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation
SP Arunachalam, S Silwal, B Evans… - 2023 ieee international …, 2023 - ieeexplore.ieee.org
Optimizing behaviors for dexterous manipulation has been a longstanding challenge in
robotics, with a variety of methods from model-based control to model-free reinforcement …
robotics, with a variety of methods from model-based control to model-free reinforcement …
Robot synesthesia: In-hand manipulation with visuotactile sensing
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual
feedback. However, the distinct nature of these modalities poses significant challenges. In …
feedback. However, the distinct nature of these modalities poses significant challenges. In …
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 …
RBO Hand 3: A Platform for Soft Dexterous Manipulation
S Puhlmann, J Harris, O Brock - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
In this article, we present the RBO Hand 3, a highly capable and versatile anthropomorphic
soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous …
soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous …
Active entanglement enables stochastic, topological grasping
K Becker, C Teeple, N Charles… - Proceedings of the …, 2022 - National Acad Sciences
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the
gripper and object morphology, as well as perception and motion planning. Here, we …
gripper and object morphology, as well as perception and motion planning. Here, we …
Visual dexterity: In-hand dexterous manipulation from depth
In-hand object reorientation is necessary for performing many dexterous manipulation tasks,
such as tool use in unstructured environments that remain beyond the reach of current …
such as tool use in unstructured environments that remain beyond the reach of current …
Visual dexterity: In-hand reorientation of novel and complex object shapes
In-hand object reorientation is necessary for performing many dexterous manipulation tasks,
such as tool use in less structured environments, which remain beyond the reach of current …
such as tool use in less structured environments, which remain beyond the reach of current …
Complex in-hand manipulation via compliance-enabled finger gaiting and multi-modal planning
Constraining contacts to remain fixed on an object during manipulation limits the potential
workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one …
workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one …