Compliant In-Hand Multifingered Rolling Using Tactile Sensing

Huan Weng, Kevin Lynch

Keywords: in-hand rolling, tactile sensing, model-based control

TL;DR: model-based control of in-hand rolling manipulation using tactile sensing

Abstract: We investigate in-hand rolling manipulation using a multi-fingered robot hand where each finger is equipped with a Visiflex, a compliant tactile fingertip sensor providing contact location and wrench information. Each fingertip is hemispherical, allowing it to roll, spin, and slide on the object. We derive the equations of motion for compliant quasistatic in-hand rolling manipulation, and we formulate a fingertip rolling controller for multiple fingers to achieve desired object rolling motion in a grasp. The controller is tested experimentally on object spinning and screwing tasks.

Submission Number: 25