Leveraging Embodied Intelligence for Dexterous Robotic Manipulators Through Iterative Co-design

Abstract The role of embodied intelligence (EI) has the potential to overcome current limitations in fabrication, control, and resulting behavior create robust effective dexterous robotic manipulators. To develop hands that truly exploit EI, we must design by considering entire system: physical body, sensory systems, brain (the controller). However, lack clear approaches methods enable this system level for hands. We introduce an iterative approach co-design which seeks utilize simulation real world evaluation maximize performance distributing EI across different elements system. achieve vision require can be rapidly fabricated with variability space. Thus, further development need streamlined fabrication pipelines incorporate spatially distributed sensors, complex geometries materials, control at sensory-motor high task planning domains.