This project collects the hand and grasping work that predates the humanoid locomotion papers but still matters to the overall profile. The core problems are compliance, grasping force control, and internal-force strategies for multi-fingered hands interacting with rigid objects.
Several conference papers from 2011 through 2014 build this thread. They move from force and torque sensing on position- or velocity-controlled hands into richer manipulation problems such as stable grasp strategies and robotic handwriting based on multi-contact interaction.
In the redesigned site this material is presented as a coherent research line instead of as isolated papers or demo snippets. It shows the continuity between manipulation, force control, and later whole-body robotics work.