Yasunori Toshimitsu

Rapid Learning of Dexterous In-Hand Pen Writing through Real-Time Jacobian Estimation

Dexterous in-hand manipulation of a grasped object with an anthropomorphic hand is an unsolved frontier for robot dexterity. The contact-richness and highly dynamic nature of object-hand interactions tend to require extensive modeling or data-collection efforts for learning-based approaches. Modern simulators used for...