Compliant In-hand Rolling Manipulation Using Tactile Sensing

• URL: http://arxiv.org/abs/2603.04301v1
• Date: Wed, 04 Mar 2026 17:21:18 GMT
• Title: Compliant In-hand Rolling Manipulation Using Tactile Sensing
• Abstract summary: 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.<n>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.
• Score: 7.9551244899127935
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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