相关论文: Embodied Manipulation with Past and Future Morphol…
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits…
Designing robotic hand morphologies for diverse manipulation tasks requires balancing dexterity, manufacturability, and task-specific functionality. While open-source frameworks and parametric tools support reproducible design, they still…
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the past decade, several expensive dexterous hands have come to…
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…
We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…
In embodied intelligence, the embodiment gap between robotic and human hands brings significant challenges for learning from human demonstrations. Although some studies have attempted to bridge this gap using reinforcement learning, they…
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robustness to variations in shape, size, weight, and placement of…
Despite recent advancements, existing prosthetic limbs are unable to replicate the dexterity and intuitive control of the human hand. Current control systems for prosthetic hands are often limited to grasping, and commercial prosthetic…
Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…
Cross-embodiment dexterous grasp synthesis refers to adaptively generating and optimizing grasps for various robotic hands with different morphologies. This capability is crucial for achieving versatile robotic manipulation in diverse…
Recent advances in control robot methods, from end-to-end vision-language-action frameworks to modular systems with predefined primitives, have advanced robots' ability to follow natural language instructions. Nonetheless, many approaches…