An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis
Vatsal V. Patel,Daniel Rakita,Aaron M. Dollar,Vatsal V. Patel,Daniel Rakita,Aaron M. Dollar
Robot manipulation today generally focuses on motions exclusively with a robot arm or a dexterous hand, but usually not a combination of both. However, complex manipulation tasks can require coordinating arm and hand motions that leverage capabilities of both, much like the coordinated arm and hand motions carried out by humans to perform everyday tasks. In this work, we evaluate unified manipulat...
