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title
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
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Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
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LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
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2026-01-01 06:01:30
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LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Main Paper Parts CAD Assembly Software Sim2Real LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Kenneth Shaw Ananye Agrawal Deepak Pathak Carnegie Mellon University RSS 2023 RSS 2023 arXiv Poster Video Summary API Sim2Real Abstract Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. This can be mostly attributed to the lack of suitable hardware. In this paper, we present LEAP Hand, a low-cost dexterous and anthropomorphic hand for machine learning research. In contrast to previous hands, LEAP Hand has a novel kinematic structure that allows maximal dexterity regardless of finger pose. LEAP Hand is low-cost and can be assembled in 4 hours at a cost of 2000 USD from readily a...
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