Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation

arXiv:2609.25619 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-26

Code: https://github.com/orcahand/orcahand

Terminology

• Hand-Object Mechanism — 7× in this paper
• Adaptability — 3× in this paper · explained in 1 episode
• Trace — 2× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes

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