In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and oc...

Electronic Skin In article number 2109109, Zhuo Li, Hao Wu, and co-workers adopt flexible mechanical metamaterials to enhance the performance of E-skin strain sensors. Based on tactile perception data from sensors, a generic approach for real-time detection unstable robotic grasping is proposed. Accurate detections in demonstrate great promise sensors dexterous manipulation.

We propose to learn generate grasping motion for manipulation with a dexterous hand using implicit functions. With continuous time inputs, the model can and smooth plan. name proposed Continuous Grasping Function (CGF). CGF is learned via generative modeling Conditional Variational Autoencoder 3D human demonstrations. will first convert large-scale human-object interaction trajectories robot de...

Arrangements of planar curves are fundamental structures in computational geometry. We describe the recent developments in the arrangement package of Cgal, the Computational Geometry Algorithms Library, making it easier to use, to extend and to adapt to a variety of applications. This improved flexibility of the code does not come at the expense of efficiency as we mainly use generic-programmin...