Abstract
In this work, we present three vision-based within-hand manipulation methods for a variable friction hand. The system is able to plan and execute actions such as in-hand sliding and large object rotation, which are required for many within-hand manipulation tasks. We present an experimental study using objects with various geometries, and show that all the methods can reliably achieve given target object poses. We discuss the advantages and disadvantages of the proposed methods with respect to positioning accuracy and efficiency.
G. Narayanan and J. A. Raj—Contributed equally to this publication.
This work was supported in part by the National Science Foundation under grant IIS-1900953.
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Narayanan, G., Raj, J.A., Gandhi, A., Gupte, A.A., Spiers, A.J., Calli, B. (2021). Within-Hand Manipulation Planning and Control for Variable Friction Hands. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_53
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