Related papers: Ruka-v2: Tendon Driven Open-Source Dexterous Hand …
Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors. Integrating this capability into robots empowers…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
We present DexMan, an automated framework that converts human visual demonstrations into bimanual dexterous manipulation skills for humanoid robots in simulation. Operating directly on third-person videos of humans manipulating rigid…
Diverse demonstration datasets have powered significant advances in robot learning, but the dexterity and scale of such data can be limited by the hardware cost, the hardware robustness, and the ease of teleoperation. We introduce ALOHA 2,…
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoperation (for imitation learning) and sim-to-real reinforcement…
Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most prior work in dexterous manipulation…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Scaling Vision-Language-Action models for embodied manipulation demands large volumes of diverse manipulation data, yet the high cost of commercial mobile manipulators and teleoperation interfaces that are difficult to deploy at scale…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the Pisa/IIT SoftHand and related hands. To be suitable for an…