3 papers indexed
Puhao Li, Zeyuan Chen, Yingying Wu, Pengkun Wei, Yuyang Li, Tianyu Wang, et al.
Humans routinely wield tools, swap grasps, and reposition objects within a single hand, seamlessly orchestrating contact transitions that span translation, reorientation, and finger gaiting. Endowing robot dexterous hands with this level of in-hand dexterity through teleoperation…
Mingrui Yu, Yongpeng Jiang, Yongyi Jia, Kangchen Lv, Li Huang, Yi Ren, et al.
Dexterous grasping across diverse object scales requires contact modes ranging from two-finger pinches to bimanual grasps. Existing dexterous grasp synthesis methods reduce the high-dimensional optimization space with manually designed expected contacts and initialization heurist…
Mingrui Yu, Yongpeng Jiang, Yongyi Jia, Ren Yi, Xiang Li
While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertainty, open-loop execution often yields uncoordinated contacts, causing undesired in-hand object motion…