For humans, it can be challenging to manipulate thin flexible objects like ropes, wires, or cables. But if these problems are hard for humans, they are nearly impossible for robots. As a cable slides between the fingers, its shape is constantly changing, and the robot’s fingers must be constantly sensing and adjusting the cable’s position and motion.⁠ ⁠ Standard approaches have used a series of slow and incremental deformations, as well as mechanical fixtures, to get the job done. Recently, a gr
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