GenHand: generalised human grasp kinematic retargeting – npj Robotics
Kinematic retargeting is vital for teleoperation and imitation learning, enabling the conversion of human gestures into robotic end-effector actions, particularly in object manipulation tasks requiring robust, human-like grasping. Existing methods primarily focus on replicating hand shapes, especially fingertip locations, but often suffer from reduced grasp quality when adapting to grippers with different morphologies.
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