"3D Dexterous Ungrasping for Puzzling Manipulation," IEEE ICRA 2025, to be presented in May 2025. Click the figure for the video.

A rapid technique for picking up thin objects with a direct-drive gripper. One finger slips beneath the object while the other stabilizes, securing a grip in fractions of a second. Even fragile crackers stay intact! Click the figure for the video.

Our rock-and-walk manipulation (or locomotion) technique can be applied to transporting heavy objects, such as the Moai! Click the figure for the video.

2022 IEEE T-RO King-Sun Fu Memorial Best Paper Honorable Mention 

Media coverage on IEEE Spectrum and BBC

This technique enables human-level dexterity in ungrasping tasks, such as the precise placement of Go stones—a task that AlphaGo is unable to perform.

Three videos for three RA-L articles (2019-2022): #1, #2, and #3

IEEE ICRA 2019 Best Paper Award in Robot Manipulation