Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916792160485376 |
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| author | Yi, Xili Fazeli, Nima |
| author_facet | Yi, Xili Fazeli, Nima |
| contents | We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a vibration-based actuator that dynamically modulates the effective finger-object friction coefficient, effectively emulating changes in gripping force. Second, we derive a sliding motion model for objects clamped in a parallel gripper with two symmetric, variable-friction contact patches. Third, we propose a motion planner that coordinates end-effector finger trajectories and fingertip vibrations to achieve the desired object pose. In real-world trials, Vib2Move consistently yields final positioning errors below 6 mm, demonstrating reliable, high-precision manipulation across a variety of planar objects. For more results and information, please visit https://vib2move.github.io. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_10923 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations Yi, Xili Fazeli, Nima Robotics We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a vibration-based actuator that dynamically modulates the effective finger-object friction coefficient, effectively emulating changes in gripping force. Second, we derive a sliding motion model for objects clamped in a parallel gripper with two symmetric, variable-friction contact patches. Third, we propose a motion planner that coordinates end-effector finger trajectories and fingertip vibrations to achieve the desired object pose. In real-world trials, Vib2Move consistently yields final positioning errors below 6 mm, demonstrating reliable, high-precision manipulation across a variety of planar objects. For more results and information, please visit https://vib2move.github.io. |
| title | Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.10923 |