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cs.RO2024
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…
cs.RO2024★ 1 cited
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…