Complex In-Hand Manipulation

Complex In-Hand Manipulation

Researchers at the Yale GRAB Lab developed a method for complex in-hand manipulation for robots. Image credit: the Yale GRAB Lab An article titled "Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning" is published from this research and the abstract is as follows: "Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to be freely broken and remade so as to operate on different manipulation manifolds. This capability, however, has traditionally…
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