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    "story_id": "mp-2026-09-20-009",
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    "position": 9,
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    "section": "robotics",
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    "headline": "The Robot Hand Grasped From a Rough Sketch",
    "slug": "the-robot-hand-grasped-from-a-rough-sketch",
    "dek": "Compliant closing motions handled centimeter-scale size and pose errors without feedback.",
    "summary": "Compliant closing motions handled centimeter-scale size and pose errors without feedback.",
    "body_text": "A dexterous-hand planner starts from coarse object templates and human grasp types, then uses compliant sliding contact rather than prescribed contact points. On a Shadow Dexterous Hand, its open-loop closing motions tolerated about one centimeter of size error and several centimeters and tens of degrees of pose error. It exceeded a data-driven comparison in 25 of 27 tested error conditions and grasped 82.5% of 80 everyday objects. The authors still plan to combine the approach with adaptive feedback rather than claim open-loop motion solves manipulation uncertainty.",
    "why_it_matters": "Compliant closing motions handled centimeter-scale size and pose errors without feedback.",
    "limitations": [],
    "importance": 8,
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    "first_published_at": "2026-09-20T09:00:00.000-04:00",
    "modified_at": "2026-09-20T09:00:00.000-04:00",
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    "source_ids": [
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    "tags": [
      "dexterous manipulation",
      "grasp planning",
      "compliance"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-20-009",
      "title": "arXiv preprint 2609.19228",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.19228",
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      "published_at": "2026-09-16T10:41:31.000-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "The Robot Hand Grasped From a Rough Sketch",
    "publisher": "The Machine Press",
    "published_at": "2026-09-20T09:00:00.000-04:00",
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