用指尖微振动和重力精准调整手中物体位置，误差小于6毫米。
Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
- 通过微振动调节手指与物体间摩擦力，模拟不同抓握力度。
- 在真实实验中，物体定位误差始终低于6毫米。
- 适合需要高精度操作的机器人抓取场景。
我们提出Vib2Move，一种基于指尖微振动与重力的在手物体重新配置新方法，用于精确调整平面物体的位置。该框架包含三项核心创新：首先，设计了一种振动驱动执行器，可动态调节手指-物体间的有效摩擦系数，从而模拟不同抓握力；其次，推导出在平行夹爪中具有两个对称可变摩擦接触点的物体滑动运动模型；第三，提出了一个运动规划器，协调末端执行器手指轨迹与指尖振动，实现期望的物体姿态。在真实世界测试中，Vib2Move始终将最终定位误差控制在6毫米以下，展示了在多种平面物体上可靠且高精度的操作能力。更多结果详见 https://vib2move.github.io。
原文摘要 · Abstract (English)
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a vibration-based actuator that dynamically modulates the effective finger-object friction coefficient, effectively emulating changes in gripping force. Second, we derive a sliding motion model for objects clamped in a parallel gripper with two symmetric, variable-friction contact patches. Third, we propose a motion planner that coordinates end-effector finger trajectories and fingertip vibrations to achieve the desired object pose. In real-world trials, Vib2Move consistently yields final positioning errors below 6 mm, demonstrating reliable, high-precision manipulation across a variety of planar objects. For more results and information, please visit https://vib2move.github.io.
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