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cs.RO2024★ 1 cited
In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing
Mingrui Yu, Boyuan Liang, Xiang Zhang +6
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill th…
cs.RO2024
Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach
Yongpeng Jiang, Mingrui Yu, Xinghao Zhu +2
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inferen…