In-hand Sliding Regrasp with Spring-Sliding Compliance
This addresses robotic manipulation challenges for tasks requiring precise object repositioning, but it is incremental as it builds on existing compliance methods.
The paper tackled in-hand regrasping by using spring-sliding compliance to push objects against constraints, allowing sliding at fingertips, and derived mechanics for robust operation under uncertainties, with results verified in simulation and experiment for a two-fingered setup.
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring compliance maps contact forces to spring compressions, ensuring the fingers remain in contact, and sliding "compliance" governs the relationship between sliding motions and tangential contact forces. A spring-sliding compliant regrasp is achieved by controlling the finger anchor motions. We derive the fingertip sliding mechanics for multifingered sliding regrasps and analyze robust regrasping conditions in the presence of finger contact wrench uncertainties. The results are verified in simulation and experiment with a two-fingered sliding regrasp designed to maximize robustness of the operation.