用双手贴片摩擦接触实现物体精准翻转，提升抓握稳定性。
Bimanual In-hand Manipulation using Dual Limit Surfaces
- 通过双侧贴片摩擦接触交替滑动与静止，实现物体重定位
- 在多种物体形状下保持姿态精度，减少意外滑移
- 适合高精度灵巧操作任务，如机器人手部精细控制
手部物体操纵是灵巧操作的关键能力。本文提出一种针对物体重新配置的建模与规划框架，聚焦于机器人掌面（或手指）与物体间的摩擦贴片接触。方法利用物体两侧的两个协同贴片接触，通过交替进行滑动与粘附运动，迭代调整物体在抓握中的位置。相比依赖单点接触或对接触动力学施加严格假设的以往方法，本框架建模了双摩擦贴片的复杂交互，实现更精确的物体运动控制。我们开发了一种规划算法，可计算出不引发意外滑移的可行运动路径，实现物体的重定向与再抓取。在仿真和真实实验中均验证了该方法的有效性，显著提升了多种物体几何形态下的稳定性和姿态精度。
原文摘要 · Abstract (English)
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's palms (or fingers) and the object. Our approach leverages two cooperative patch contacts on either side of the object to iteratively reposition it within the robot's grasp by alternating between sliding and sticking motions. Unlike previous methods that rely on single-point contacts or restrictive assumptions on contact dynamics, our framework models the complex interaction of dual frictional patches, allowing for greater control over object motion. We develop a planning algorithm that computes feasible motions to reorient and re-grasp objects without causing unintended slippage. We demonstrate the effectiveness of our approach in simulation and real-world experiments, showing significant improvements in object stability and pose accuracy across various object geometries.
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