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.

翻译：本研究探讨了使用多指机器人手进行手中滚动操作的方法，其中每个手指均具有顺应性结构，并配备能提供接触位置与力/力矩信息的触觉指尖传感器。我们推导了顺应性准静态手中滚动操作的运动方程，并构建了一种多指指尖滚动操作控制器，以实现抓握状态下物体的期望扭转运动。通过仿真验证了接触力学模型，并在实验机器人系统上对该控制器进行了测试。