# A Dexterous Reorientation Strategy for Precision Picking of Large Thin Objects

## TL;DR

This paper introduces a robotic technique for picking up large, thin objects by reorienting the gripper around the object's contact point, enabling reliable grasps without sliding.

## Contribution

The novel tilt-and-pivot manipulation strategy enables dexterous grasping of large thin objects without requiring sliding at the contact point.

## Key findings

- Tilt-and-pivot manipulation allows for reliable pinch grasps on large thin objects.
- The method is effective in bin-picking scenarios and complex object-handling tasks.
- Kinematic principles and planning strategies were validated through experiments with vision and force–torque sensing.

## Abstract

This paper presents tilt-and-pivot manipulation, a robotic technique for picking large, thin objects resting on hard supporting surfaces. The method employs in-hand dexterous manipulation by reorienting the gripper around the object’s contact point, allowing a finger to enter the gap between the object and the surface, without requiring relative sliding at the contact. This finally facilitates reliable pinch grasps on the object’s faces. We investigate the kinematic principles and planning strategies underlying tilt-and-pivot, discuss effector design considerations, and highlight the practical advantages of the strategy, which is applicable to a variety of low-profile objects. Experimental results, incorporating vision and force–torque sensing, demonstrate its effectiveness in bin-picking scenarios and its applicability to more complex object-handling tasks.