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Paper "Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation" presented on IROS 2023

Have you ever thought about representations of soft hands for in-hand manipulation? Or about feedback controllers that are suitable for compliant systems? If so, check out our new IROS23 paper.

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.

If you're curious, take a look at the paper or our YouTube playlist.