Alexander M. Kübler — accepted AI-conference papers

2025

Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand

Adrian Hess, Alexander M. Kübler, Benedek Forrai, Mehmet Remzi Dogar, Robert K. Katzschmann

IROS 2025

Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact inter-actions, and uncertainties in state estimation. Sampling-based model predictive control (MPC), using a physics simulator as the d

Cited by 5 Source ↗Scholar ↗

2024

Rotograb: Combining Biomimetic Hands with Industrial Grippers using a Rotating Thumb

Arnaud Bersier, Matteo Leonforte, Alessio Vanetta, Sarah Lia Andrea Wotke, Andrea Nappi, Yifan Zhou +3

IROS 2024poster

The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel rotating thumb. The aim is to combine the dexterity of human hands…

Cited by 0 Source ↗Scholar ↗