Bimanual In-hand Manipulation using Dual Limit Surfaces

TL;DR

This paper presents a novel modeling and planning framework for in-hand object reconfiguration using dual frictional patch contacts, enabling more precise and stable manipulation compared to previous single-contact methods.

Contribution

It introduces a dual patch contact model and a planning algorithm for in-hand manipulation, advancing beyond single-point contact assumptions.

Findings

Improved object stability and pose accuracy in simulations.

Successful real-world demonstrations of in-hand reconfiguration.

Enhanced control over object motion with dual frictional patches.

Abstract

In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's palms (or fingers) and the object. Our approach leverages two cooperative patch contacts on either side of the object to iteratively reposition it within the robot's grasp by alternating between sliding and sticking motions. Unlike previous methods that rely on single-point contacts or restrictive assumptions on contact dynamics, our framework models the complex interaction of dual frictional patches, allowing for greater control over object motion. We develop a planning algorithm that computes feasible motions to reorient and re-grasp objects without causing unintended slippage. We demonstrate the effectiveness of our approach in simulation and real-world experiments, showing significant improvements in object stability and pose accuracy across various object geometries.