DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Name
ulloa-gulloa-sm-meche-2025-thesis.pdf
Description
Thesis PDF
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1.39 MB
Format
Adobe PDF
Checksum (MD5)
1f10db043c36af78382bea5d88ffcb1b
Author(s)
Ulloa, Gabriella E.
Advisor(s)
Agrawal, Pulkit
Date Issued
May 2025
Publisher
Massachusetts Institute of Technology
Abstract
DexWrist is a compliant robotic wrist designed to advance robotic manipulation in highly-constrained environments, enable dynamic tasks, and speed up data collection. DexWrist is designed to be close to the functional capabilities of the human wrist and achieves mechanical compliance and a greater workspace as compared to existing robotic wrist designs. The DexWrist can supercharge policy learning by (i) enabling faster teleoperation and therefore making data collection more scalable; (ii) completing tasks in fewer steps which reduces trajectory lengths and therefore can ease policy learning; (iii) DexWrist is designed to be torque transparent with easily simulateable kinematics for simulated data collection; and most importantly (iv) expands the workspace of manipulation for approaching highly cluttered scenes and tasks. More details about the wrist can be found at: https://sites.google.com/view/dexwrist/home.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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