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Learning a dexterous policy for a biomimetic tendon-driven hand with rolling contact joints
Presented at the 2023 IEEE-RAS Humanoid Robots Conference, this paper demonstrates a biomimetic tendon-driven robotic hand capable of dexterous in-hand manipulation. Using reinforcement learning (RL) and a high-DoF design, the system successfully performs a complex task—rotating a sphere in-hand. This research marks a minor breakthrough in RL-based dexterous manipulation.