Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang,Kei Ota,Masayoshi Tomizuka,Devesh K. Jha,Boyuan Liang,Kei Ota,Masayoshi Tomizuka,Devesh K. Jha
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact interactions which can be very susceptible to uncertainties in kinematic and physical parameters. Therefore, we propose a robust in-hand manipulation method, which...
