Amirhossein Kazemipour

Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand

A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the environment. We show how an anthropomorphic hand can learn these skills while retaining its finger design and position controller. Onboard power and computation make the platform self-contained. Our reinforcemen...