"Fingers as Legs" paper: RL lets an anthropomorphic hand crawl while manipulating
CyberRobooo · x · 2026-09-16
The arXiv paper behind the Wuji Hand demo (ETH Zurich, 8 pages) shows an anthropomorphic hand can use the same fingers to move its body, support its weight and interact with the environment—retaining its finger design and position controller. Key points:
- Onboard power and computation make the platform self-contained; the RL approach models unequal fingers, trained in a simulator calibrated from hardware measurements.
- The reward formulation moves faster than tuned quadruped rewards; on hardware, task-specific policies enable untethered crawling, steering and fall recovery.
- While supporting its own weight, the hand executes successive keyboard commands without vision and pushes objects to targets using overhead visual feedback.
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