Dexterous manipulation and grasping
The human hand has incredible functionality. Our research focuses on understanding and replicating this capacity to robotic hands with very different kinematics.
We develop approaches and applications:
grasp planning: generate a variety of task-oriented grasps with hands by leveraging various learning strategies e.g., off-line optimization, learning from human demonstration
stable grasping: adapt the necessary force on-line to an object to achieve a safe grasp
dexterous manipulation: able to complete tasks with complicated dexterous manipulation
object interaction: learning an object manipulation strategy from human demonstration