Adrian Sieler

2 accepted papers

2023

Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation

IROS 2023poster

This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world within minutes. We choose the deformation state of the soft hand as the control variable. To control for a desired deformati…

Cited by 7 Source ↗Scholar ↗

2023

In-Hand Cube Reconfiguration: Simplified

Sumit Patidar, Adrian Sieler, Oliver Brock

IROS 2023poster

We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand cube reconfiguration. We also demonstrate the effectiveness o…

Cited by 3 Source ↗Scholar ↗