标题： DexWrist：一种用于受限和动态操作的机械手腕 显示英文标题

标题： DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation

摘要： 我们介绍了DexWrist，一种顺应性机械手腕，旨在推进在高度受限环境中的机器人操作，实现动态任务，并加快数据收集。 DexWrist被设计为接近人类手腕的功能能力，并与现有的机械手腕设计相比，实现了机械顺应性和更大的工作空间。 DexWrist可以通过（i）实现更快的远程操作，从而使得数据收集更具可扩展性；（ii）在更少步骤内完成任务，从而减少轨迹长度，进而有助于策略学习；（iii）DexWrist被设计为具有易于模拟的运动学特性，以实现扭矩透明，便于模拟数据收集；以及（iv）最重要的是扩展了操作的工作空间，以接近高度杂乱的场景和任务。 有关手腕的更多细节，请访问：dexwrist.csail.mit.edu。 显示英文摘要

摘要： We present the DexWrist, a compliant robotic wrist designed to advance robotic manipulation in highly-constrained environments, enable dynamic tasks, and speed up data collection. DexWrist is designed to be close to the functional capabilities of the human wrist and achieves mechanical compliance and a greater workspace as compared to existing robotic wrist designs. The DexWrist can supercharge policy learning by (i) enabling faster teleoperation and therefore making data collection more scalable; (ii) completing tasks in fewer steps which reduces trajectory lengths and therefore can ease policy learning; (iii) DexWrist is designed to be torque transparent with easily simulatable kinematics for simulated data collection; and (iv) most importantly expands the workspace of manipulation for approaching highly cluttered scenes and tasks. More details about the wrist can be found at: dexwrist.csail.mit.edu.