Whole-Body Dexterity
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans'ability to engage the entire body by bracing and sliding bulky objects against the arms and torso. We introduce Whole-Body Dexterity (WBD), a general framework that uses the robot's body and appe...
Conor Mc Gartoll, An Dang, Pranay Thangeda et al.
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