Reproduce “PACT: Pose-Robust Actuation Co-Design for Tendon-Driven Robotic Hands” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Prashant Kumar, Rachael Granberry, Taylor Niehues, Andrew A. Stanley, Gabe Pirie
PACT co-designs tendon routing, moment arms, and capstan sizes for a four-degree-of-freedom robotic finger across eight poses, targeting required fingertip forces while meeting predicted isolated-joint bandwidth constraints. In the specified task library, modeled worst-pose coverage is 0.88, versus 0.24 for a task-agnostic baseline. A one-pose prototype test measured forces about 24.5% below frictionless predictions.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.