2026
A Versatile Underactuated Robotic Hand for Cloth Manipulation
Xinhao Chen, Alberto Elías Petrilli Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
ICRA 2026poster
Traditional cloth manipulation often employs low- DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like de- sign…