A hierarchical, model-based, contact-implicit controller with tactile tracking completes five real-world in-hand manipulation tasks without any learning, under disturbances.
Science 364(6446): eaat8414
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Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking
A hierarchical, model-based, contact-implicit controller with tactile tracking completes five real-world in-hand manipulation tasks without any learning, under disturbances.