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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.04301 |
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| _version_ | 1866911484769992704 |
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| author | Weng, Huan Chen, Yifei Lynch, Kevin M. |
| author_facet | Weng, Huan Chen, Yifei Lynch, Kevin M. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_04301 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Compliant In-hand Rolling Manipulation Using Tactile Sensing Weng, Huan Chen, Yifei Lynch, Kevin M. Robotics 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. |
| title | Compliant In-hand Rolling Manipulation Using Tactile Sensing |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.04301 |