Abstract: Dexterous manipulation, particularly adept coordinating and grasping, constitutes a fundamental and indispensable capability for robots, facilitating the emulation of human-like behaviors.

Kinematics, trajectectory planning and control library, and robot programming (script) language of robotic arms. It depends on Eigen3, pybind11, and ros. It fits into the framework of ros, and can be ...

Abstract: Aiming at underwater operation, such as grasping and transportation, this paper proposed an integrated leg-arm underwater robot capable of sensorized grasping. The robot is equipped with ...