Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study
Arnav Gupta,Yuemin Mao,Ankit Bhatia,Xianyi Cheng,Jonathan King,Yifan Hou,Matthew T. Mason,Arnav Gupta,Yuemin Mao,Ankit Bhatia,Xianyi Cheng,Jonathan King,Yifan Hou,Matthew T. Mason
This paper explores a novel approach to dexterous manipulation, aimed at levels of speed, precision, robustness, and simplicity suitable for practical deployment. The enabling technology is a Direct-drive Hand (DDHand) comprising two fingers, two DOFs each, that exhibit high speed and a light touch. The test application is the dexterous manipulation of three small and irregular parts, moving them ...
