An Overview of Dexterous Manipulation

By Allison M. Okamura, Niels Smaby, Mark R. Cutkosky. 1999

How researchers see this paper

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Citations in the corpus

Solving Rubik's Cube with a Robot Hand (2019, background): “Dexterous manipulation has been an active area of research for decades [32, 91, 9, 74, 64].”
Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost (2018, background): “Much of the work on robotic hands has focused on grasping [4], as compared to other dexterous skills [5].”
Learning dexterous in-hand manipulation (2018, background): “Dexterous manipulation has been an active area of research for decades (Bicchi, 2000; Fearing, 1986; Ma and Dollar, 2011; Okamura et al., 2000; Rus, 1999).”
Deep Dynamics Models for Learning Dexterous Manipulation (2019, background): “In fact, dexterous manipulation is deﬁned [1] as being object-centric, with the goal of controlling object movement through precise control of forces and motions – something that is not possible without the ability to simultaneously impact the object from multiple directions.”
Real-time behaviour synthesis for dynamic hand-manipulation (2014, unknown): “Also, see review paper [12] [13]”
Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review (2010, background): “dexterous manipulation (Bicchi, 2000; Okamura et al., 2000).”
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity (2000, background): “, [53], [66], [120], [156], and [127]), and the reader is referred there for other views on the state of the art.”
Learning Dexterous In-Hand Manipulation. (2018, background): “Dexterous manipulation has been an active area of research for decades [17, 52, 7, 42, 37].”
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos (2021, background): “Manipulation with multifinger hands is one of the most challenging core robotics tasks, which has been actively studied with optimization and planning [63, 9, 46, 18, 2, 6].”
Tactile sensing in dexterous robot hands - Review (2015, unknown): “Figure 23: General control framework for dexterous manipulation [157].”
On dexterity and dexterous manipulation (2011, methodology): “[8] laid out the technical requirements and basic components for implementing dexterous manipulation, including planning strategies, hardware design, and physical system parameters.”
Dual arm manipulation - A survey (2012, methodology): “This type of modeling clearly describes the anthropomorphic multi-fingered hands [155] which enables " dexterous manipulation " [156] as illustrated in Bicchi's and Kumar's theoretical survey for robotic grasping [157].”
Trends and challenges in robot manipulation (2019, background): “Hence, compared with human hands, most anthropomorphic hands and prostheses do not have nearly as many controllable degrees of freedom (5, 6).”
Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation (2008, background): “We distinguish between three categories of approaches to manipulation [2, 15, 17].”