Impedance MPC with Disturbance Estimation for Dexterous Hand Control
The paper presents an impedance MPC framework for dexterous fingers and evaluates scaling to a 16-DOF LEAP Hand simulation.
Evidence notes
- The evaluation models LEAP Hand in simulation, with the platform supplied by Carnegie Mellon University.
Company context
Research university with robotics groups publishing robot-learning hardware, manipulation research and open-source robotic hand resources.