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cs.RO2025
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
Simon Fritsch, Liam Achenbach, Riccardo Bianco +9
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipula…
cs.RO2024
VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding
Chenyu Yang, Davide Liconti, Robert K. Katzschmann
Dexterous robotic manipulation remains a significant challenge due to the high dimensionality and complexity of hand movements required for tasks like in-hand manipulation and obje…