Topic 03 of 17

Dexterous manipulation in robotics

Dexterous manipulation is the control of multi-fingered robotic hands for tasks that need more than a parallel-jaw grip: in-hand reorientation, tool use, handling deformable or small objects. It is hard because contact dynamics are discontinuous and hand states are difficult to observe, which is why current work leans on tactile sensing, human hand demonstrations, and large-scale simulation.

arXiv query: cat:cs.RO AND (abs:"dexterous manipulation" OR abs:"in-hand manipulation")