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Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers

Arslan Waltersson, Gabriel LU and Karayiannidis, Yiannis LU orcid (2025) In International Journal of Robotics Research
Abstract

Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object’s... (More)

Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object’s orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture’s novel capabilities for manipulating objects with flat surfaces.

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Please use this url to cite or link to this publication:
author
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organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
contact modeling, grippers, in-hand manipulation, manipulation and grasping, sensor-based control
in
International Journal of Robotics Research
publisher
SAGE Publications
external identifiers
  • scopus:105023141101
ISSN
0278-3649
DOI
10.1177/02783649251397549
project
RobotLab LTH
Hand-arm coordination control for robotic interaction tasks
language
English
LU publication?
yes
additional info
Publisher Copyright: © The Author(s) 2025. This article is distributed under the terms of the Creative Commons Attribution 4.0 License (https://creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).
id
1bc6c53d-c5ba-4713-a09c-93d1034c7a99
date added to LUP
2025-12-13 19:32:46
date last changed
2025-12-15 11:23:23
@article{1bc6c53d-c5ba-4713-a09c-93d1034c7a99,
  abstract     = {{<p>Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object’s orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture’s novel capabilities for manipulating objects with flat surfaces.</p>}},
  author       = {{Arslan Waltersson, Gabriel and Karayiannidis, Yiannis}},
  issn         = {{0278-3649}},
  keywords     = {{contact modeling; grippers; in-hand manipulation; manipulation and grasping; sensor-based control}},
  language     = {{eng}},
  publisher    = {{SAGE Publications}},
  series       = {{International Journal of Robotics Research}},
  title        = {{Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers}},
  url          = {{http://dx.doi.org/10.1177/02783649251397549}},
  doi          = {{10.1177/02783649251397549}},
  year         = {{2025}},
}