Compliant In-hand Rolling Manipulation Using Tactile Sensing

TL;DR

This paper presents a novel approach for in-hand rolling manipulation with a multifingered robot hand, utilizing tactile sensing and compliant control to achieve precise object manipulation.

Contribution

It introduces a new compliant quasistatic model and a control framework for in-hand rolling manipulation using tactile feedback on multiple fingers.

Findings

Successful simulation of contact mechanics.

Experimental validation on a robotic system.

Effective control of object twist within grasp.

Abstract

We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for compliant quasistatic in-hand rolling manipulation and formulate a fingertip rolling manipulation controller for multiple fingers to achieve a desired object twist within a grasp. The contact mechanics are demonstrated in simulation and the controller is tested on an experimental robot system.