DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation

arXiv:2507.01008 · cs.RO · Submitted 2025-07-01 · Read on arXiv

cs.RO

Submitted: 2025-07-01

Updated: 2026-09-23

Comments: Accepted to IEEE Robotics and Automation Letters (RA-L). 8 pages, 8 figures. Project page: https://martinpeticco.com/dexwrist

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Admittance Control — 5× in this paper · explained in 1 episode
• Hysteresis — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• National Aeronautics and Space Administration — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces
• On the Continuity of Rotation Representations in Neural Networks

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