Designing Dexterous Humanoid Robots

This chapter explores the critical aspects of back-drivability in humanoid robot hands, emphasizing their ability to perform delicate tasks without damaging fragile objects. It discusses the balance between mechanical rigidity and compliance, along with the significance of thoughtful hardware-software integration in robotic design. The conversation also highlights the advancements in actuation technologies and the shift towards AI-driven training methods, enabling efficient task scaling for humanoid robots.