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simmediummanipulationmetric · varies
A Soft Wrist with Anisotropic and Selectable Stiffness for Robust Robot Learning in Contact-rich Manipulation
Description
Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Existing soft end-effectors face fundamental limitations: they either provide a limited deformation range, lack directional stiffness control, or require complex actuation systems that compromise practicality. This study introduces CLAW (Compliant Leaf-spring Anisotropic soft Wrist), a novel soft wrist