Stable grasping and object reorientation with a three-fingered robotic hand
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Robotic hands able to conduct precision in-hand manipulation have become imperative for modern robotic systems. Compliant finger joints provide compliant grasping but the post-grasp orientation of an object varies. Under-actuated, robotic hands that are capable of grasping and reorienting objects are one step closer to human-like end-effectors. This paper presents a hand prototype with two under-actuated fingers embedded with tactile feedback and a fuzzy system to obtain a stable grasp, integrated to the gripper. One fully actuated robotic thumb with 3 degrees of freedom (DOF) is also presented. The integrated system evaluates tactile feedback, object orientation and thumb trajectory planning for in-hand manipulation tasks. The fuzzy logic controller was able to perform stable grasping while the tactile sensors fixed on the phalanges successfully detected the objects' changes in orientation. In conclusion the stable grasping was maintained during the object reorientation achieving the in-hand manipulation for the proposed task.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it