robotics
A Robot Hand Began Writing After Eighteen Seconds
Real-time Jacobian estimation produced 0.6-millimeter mean in-plane precision without demonstrations, simulation training or an analytic contact model.
Summary
Real-time Jacobian estimation produced 0.6-millimeter mean in-plane precision without demonstrations, simulation training or an analytic contact model.
The controller estimates the combined hand-and-object task Jacobian online, avoiding a prebuilt kinematic and contact model for a grasped pen. On a physical anthropomorphic hand it began writing after about 18 seconds of initialization using only a laptop CPU, then continued adapting as it traced letters and shapes in air and on paper. Mean in-plane error was 0.6 millimeters across runs. The same formulation was also exercised on two simulated hands. This is a narrow single-stroke dexterity result, but it offers a data-light alternative to reinforcement and imitation learning for contact-rich manipulation.
Why it matters
Real-time Jacobian estimation produced 0.6-millimeter mean in-plane precision without demonstrations, simulation training or an analytic contact model.
Limits and context
- On a physical anthropomorphic hand it began writing after about 18 seconds of initialization using only a laptop CPU, then continued adapting as it traced letters and shapes in air and on paper.
Key claims
Real-time Jacobian estimation produced 0.6-millimeter mean in-plane precision without demonstrations, simulation training or an analytic contact model.
Qualification: On a physical anthropomorphic hand it began writing after about 18 seconds of initialization using only a laptop CPU, then continued adapting as it traced letters and shapes in air and on paper.
Evidence: source-2026-09-11-015
Sources
- arXiv preprint 2609.11775arXiv · primary research
Corrections
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