In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects

By Daniela Rus. 1999

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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].”
Learning dexterous in-hand manipulation (2018, background): “Dexterous manipulation has been an active area of research for decades [17, 52, 7, 42, 37].”
Learning Dexterous In-Hand Manipulation. (2018, background): “Dexterous manipulation has been an active area of research for decades [17, 52, 7, 42, 37].”
Sampling-based Planning of In-Hand Manipulation with External Pushes (2017, background): “ on dexterous manipulation focused on providing a gripper with enough degrees of freedom to give full controllability over a grasped object and further allowing ﬁnger contacts to either roll or slide [18, 22, 10, 1, 17, 5]. It assumed the intrinsic capability of the gripper to control these interact”
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity (2000, background): “Detailed theoretical analyzes of some aspects of finger gaiting are reported in [64], [112], [149], and [33].”
Extrinsic dexterity: In-hand manipulation with external forces (2014, background): “Subsequent work relaxed those assumptions to include rolling [13, 14], sliding [15], ﬁnger gaiting [16, 17, 18, 19, 20, 21], and global controllability of object orientation [22, 23].”
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].”
A System for General In-Hand Object Re-Orientation (2021, methodology): “Some prior works used analytical kinematics and dynamics models of the hand and object, and used trajectory optimization to output control policies [1, 2, 34] or employed kinodynamic planning to find a feasible motion plan [35].”