Related papers: Embodied Manipulation with Past and Future Morphol…
Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to morph and acquire new skills can facilitate an embodied agent…
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 genetic algorithms and policy transfer to learn control…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…
Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challenge: how should we design and control robot manipulators that…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Most current anthropomorphic robotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for…
Dexterous manipulation remains one of the most challenging problems in robotics, requiring coherent control of high-DoF hands and arms under complex, contact-rich dynamics. A major barrier is embodiment variability: different dexterous…
Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This…
Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…