Multi-finger Manipulation via Trajectory Optimization with Differentiable Constraints

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Trajectory Optimization with Implicit Hard Contacts Trajectory Optimization with Implicit Hard Contacts
New compact and dexterous robotic finger that can withstand physical impacts New compact and dexterous robotic finger that can withstand physical impacts
Contact-implicit optimization for a robot manipulation task (Flicking finger) Contact-implicit optimization for a robot manipulation task (Flicking finger)
Real-Time Grasp Planning for Multi-Fingered Hands by Finger Splitting Real-Time Grasp Planning for Multi-Fingered Hands by Finger Splitting
Three-fingered robotic hand dexterous manipulation Three-fingered robotic hand dexterous manipulation
Goal Directed Multi-Finger Manipulation Goal Directed Multi-Finger Manipulation
Multi-fingered Robot Hand Compliant Manipulation Multi-fingered Robot Hand Compliant Manipulation
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021 Contact-Implicit Trajectory Optimization with Learned Deformable Contacts, ICRA 2021