Wearable Roller Rings to Enable Robot Dexterous In-Hand Manipulation through Active Surfaces
CoRR(2024)
Abstract
In-hand manipulation is a crucial ability for reorienting and repositioning
objects within grasps. The main challenges are not only the complexity in the
computational models, but also the risks of grasp instability caused by active
finger motions, such as rolling, sliding, breaking, and remaking contacts.
Based on the idea of manipulation without lifting a finger, this paper presents
the development of Roller Rings (RR), a modular robotic attachment with active
surfaces that is wearable by both robot and human hands. By installing and
angling the RRs on grasping systems, such that their spatial motions are not
co-linear, we derive a general differential motion model for the object
actuated by the active surfaces. Our motion model shows that complete in-hand
manipulation skill sets can be provided by as few as only 2 RRs through
non-holonomic object motions, while more RRs can enable enhanced manipulation
dexterity with fewer motion constraints. Through extensive experiments, we wear
RRs on both a robot hand and a human hand to evaluate their manipulation
capabilities, and show that the RRs can be employed to manipulate arbitrary
object shapes to provide dexterous in-hand manipulation.
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