Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

We present an inflatable finger pad that allows regular parallel-jaw grippers to vary their
grasp stiffness while maintaining a contact force and contact to non-planar surfaces. An …

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors
for controlling gripping force. However, this might not be ideal for tasks that require the robot …