Yusuke Iwasawa

Reinforcement Learning With a Low‐Cost Parallel Linkage Gripper for Static and Dynamic Planar In‐Hand Manipulation

Parallel linkage grippers provide a low‐cost and compact alternative to anthropomorphic hands for planar manipulation tasks. However, their closed‐chain kinematics introduce actuator coupling, singularity‐related constraints, and position‐dependent manipulation capability, making...