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What is The Foundational Pose As A Selection Mechanism For about?

This document explores the design of multi-finger robotic hands for tool-wielding by introducing foundational poses (FPs) as a selection mechanism in the design process. The authors developed a sampling-based optimization framework that successfully generated over 10,000 hand designs, with more than 99% capable of wielding tools in simulation. The study demonstrates the feasibility of the proposed methods through a hardware prototype and provides insights into the complexities of hand design optimization.

Author

rlawnals0401

Language

EN