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Tactile-driven Dexterity: Object Manipulation with Tactile Feedback
This lecture covers the use of tactile feedback in robotic manipulation, focusing on tactile-driven dexterity for object manipulation. Topics include tactile controllers for cable manipulation, tabletop object manipulation, grasp stability control, and insertion policies. The instructor discusses the importance of tactile feedback in rendering imprints for estimation and defining dynamic systems for control, as well as partitioning the role of tactile control in contact and object state. Various tactile interactions and control strategies are explored, emphasizing the significance of tactile dexterity in robotic tasks.