2 papers
cs.RO2026
ORBIT: A Modular Multi-finger Robotic Hand Platform with Rotational Finger Reconfiguration
Benito Ribadeneira, Siqi Shang, Lillian Chin
Despite the popularity of multi-fingered robotic hands for dexterous manipulation, there is no systematic platform to compare different hand morphologies against one another. We pr…
cs.RO2026
Exp-Force: Experience-Conditioned Pre-Grasp Force Selection with Vision-Language Models
Siqi Shang, Minchao Huang, Bill Fan +1
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable…