AMINN embeds a parallel-mechanism stiffness model inside a neural network to predict grasp stability and in-hand tool displacement under load, yielding structurally passive predictions in simulation.
Contact-Invariant Optimiza- tion for Hand Manipulation,
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Predicting Grasping Compliance in Robotic Hands through Analytical-Model-Informed Neural Networks
AMINN embeds a parallel-mechanism stiffness model inside a neural network to predict grasp stability and in-hand tool displacement under load, yielding structurally passive predictions in simulation.