The Robot Hand Grasped From a Rough Sketch

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.