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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…
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
Alexey Gavryushin, Xi Wang, Robert J. S. Malate +5
Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects,…
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis +8
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast da…