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Regrasping Objects Using Extrinsic Dexterity [Updated Version]

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Published on Feb 15, 2014

Dexterity is not a property of a robot hand, but that of the entire system. This video demonstrates that dexterous manipulation is possible with a hand dramatically simpler than typical dexterous hands. The key is to use the motions of the arm, object inertia, gravity, and external contacts: extrinsic dexterity.
The video showcases a repertoire of regrasps developed for a simple gripper (MLab Hand) and presents one of the sequences of regrasps designed to explore border manipulation capability by connecting different regrasps.

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