Skip to main content

Module 6: Dexterous Manipulation

22-DOF Hands, Tactile Sensing & Grasp Planning

Duration: 7 hours · Level: Advanced · Lessons: 3

G1's 22-DOF hands must thread a needle, pick up an egg, and handle medication. Build the complete manipulation stack from hand design to learned in-hand policies.

Prerequisites​

Learning outcomes

By the end of this module you will be able to:

  • Specify a 22-DOF robotic hand for healthcare manipulation
  • Implement tactile-guided grasping and in-hand manipulation
  • Design bimanual coordination policies for complex tasks

Lessons in this module​

  1. 6.1 — Hand Design: DOF, Actuation, and the 22-DOF Target · 55 min
  2. 6.2 — Tactile Sensing: GelSight, DIGIT, and BioTac · 55 min
  3. 6.3 — Grasp Planning with Foundation Models · 55 min

👉 Start here: 6.1 — Hand Design: DOF, Actuation, and the 22-DOF Target