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arXiv · 2603.04301

Compliant In-hand Rolling Manipulation Using Tactile Sensing

Huan Weng·Yifei Chen·Kevin M. Lynch
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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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Huan Weng, Yifei Chen, Kevin M. Lynch. 2026-03-04. Compliant In-hand Rolling Manipulation Using Tactile Sensing. https://arxiv.org/abs/2603.04301

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