1 citations · 1 across the 4 of their papers we have counts for
4 papers · 1 filter
Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation
Sunyu Wang, Jean Oh, Nancy S. Pollard
This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulation process, which entails picking up a tool, loading it into a suitab…
Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh +1
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on…
The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands
Sunyu Wang, Jean Oh, Nancy S. Pollard
To wield an object means to hold and move it in a way that exploits its functions. When humans wield tools -- such as writing with a pen or cutting with scissors -- our hands would…
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands
Pragna Mannam, Xingyu Liu, Ding Zhao +2
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines ge…