DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation

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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2025

Author dc:creator

• Ulloa, Gabriella E.

Advisor dc:contributor.advisor

• Agrawal, Pulkit

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/163571

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/163571