Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast,
typically use only the fingertips, which can limit dexterity. In this work, we leveraged a …

Manipulation of objects within a robot's hand is one of the most important challenges in
achieving robot dexterity. The" Roller Graspers" refers to a family of non-anthropomorphic …

In this paper we present a potential energy map based approach that provides a framework
for the design and control of a robotic grasper. Unlike other potential energy map …

Humans regularly use all inner surfaces of the hand during manipulation, whereas
traditional formulations for robots tend to use only the tips of their fingers, limiting overall …

抄録 In this work we developed a planner for planar sensorless in-hand caging manipulation
for part feeders. In-hand caging manipulation is a method in which an object is caged by a …

In this work, we propose an approach to manipulate objects by position-controlled robot
hands: in-hand caging manipulation. In this method, an object is manipulated based on …

Robot in-hand manipulation is an important skill for robots to carry out sophisticated tasks
that require moving the grasped object within hand. In this work, we present the Roller …

Traditional manipulation planning and modeling relies on strong assumptions about contact.
Specifically, it is common to assume that contacts are fixed and do not slide. This …

Existing robotic in-hand manipulation approaches generally utilize complex hand designs or
extrinsic dexterity based strategies via dynamic models of contact. Still, they can only …