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cs.RO2024
Modality-Driven Design for Multi-Step Dexterous Manipulation: Insights from Neuroscience
Naoki Wake, Atsushi Kanehira, Daichi Saito +4
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each s…
cs.RO2024
APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation
Daichi Saito, Atsushi Kanehira, Kazuhiro Sasabuchi +4
In-hand tool manipulation is an operation that not only manipulates a tool within the hand (i.e., in-hand manipulation) but also achieves a grasp suitable for a task after the mani…