相关论文: MuxHand: A Cable-driven Dexterous Robotic Hand Usi…
Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…
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…
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
Data scarcity remains a fundamental bottleneck for embodied intelligence. Existing approaches use large language models (LLMs) to automate gripper-based simulation generation, but they transfer poorly to dexterous manipulation, which…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have demonstrated remarkable capabilities in complex tasks,…
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and have motors inside to protect them from damage and dirt. In addition to the ability to perform daily…
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Human hands can not only grasp objects of various shape and size and manipulate them in hands but also exert such a large gripping force that they can support the body in the situations such as dangling a bar and climbing a ladder. On the…
We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…
This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation…
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…
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…
Controlling hands in high-dimensional action space has been a longstanding challenge, yet humans naturally perform dexterous tasks with ease. In this paper, we draw inspiration from the concept of internal model exhibited in human behavior…