3 papers
cs.RO2025
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity
Elvis Nava, Victoriano Montesinos, Erik Bauer +8
We present a diffusion-based model recipe for real-world control of a highly dexterous humanoid robotic hand, designed for sample-efficient learning and smooth fine-motor action in…
cs.RO2024
Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
Thomas Buchner, Stefan Weirich, Alexander M. Kübler +2
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid fea…
cs.RO2023
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan +4
Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances…