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cs.RO2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Sun Zhaole, Xiao Gao, Xiaofeng Mao +3
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. Howeve…
cs.RO2023
Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions
Yiting Chen, Xiao Gao, Kunpeng Yao +3
In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our pro…
cs.RO2023
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation
Xiao Gao, Kunpeng Yao, Farshad Khadivar +1
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers…