The DOI matches its Crossref record; 33 of the 33 references it cites were found in a registry or an index.
Extrinsic dexterity: In-hand manipulation with external forces
Open accessAbstract
“In-hand manipulation” is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [1], is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object's surface. Dexterous manipulation, however, is just one of the many techniques available to the robot. The robot can also roll the object in the hand by using gravity, or adjust the object's pose by pressing it against a surface, or if fast enough, it can even toss the object in the air and catch it in a different pose. All these techniques have one thing in common: they rely on resources extrinsic to the hand, either gravity, external contacts or dynamic arm motions. We refer to them as “extrinsic dexterity”. In this paper we study extrinsic dexterity in the context of regrasp operations, for example when switching from a power to a precision grasp, and we demonstrate that even simple grippers are capable of ample in-hand manipulation. We develop twelve regrasp actions, all open-loop and hand-scripted, and evaluate their effectiveness with over 1200 trials of regrasps and sequences of regrasps, for three different objects (see video [2]). The long-term goal of this work is to develop a general repertoire of these behaviors, and to understand how such a repertoire might eventually constitute a general-purpose in-hand manipulation capability.
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Citations
Cites
Articulated Hands: Force Control and Kinematic Issues
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On grasp choice, grasp models, and the design of hands for manufacturing tasks
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Self-citationHands for dexterous manipulation and robust grasping: a difficult road toward simplicity
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Mechanics and Planning of Manipulator Pushing Operations
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Self-citationNilsson, N. J. (1984) · Defense Technical Information Center (DTIC) · Cited by 562
Stable Pushing: Mechanics, Controllability, and Planning
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Self-citationAn exploration of sensorless manipulation
Erdmann, M. A., & Mason, M. T. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.800 · Cited by 463
Self-citationOrienting polygonal parts without sensors
Goldberg, K. Y. (1993) · Algorithmica · doi:10.1007/bf01891840 · Cited by 437
Dynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments
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Learning dexterous in-hand manipulation
Andrychowicz, O. M., Baker, B., Chociej, M., Józefowicz, R., McGrew, B., Pachocki, J., Petron, A., Plappert, M., Powell, G., Ray, A., et al. (2020) · The International Journal of Robotics Research · doi:10.1177/0278364919887447 · Cited by 1,643
Solving Rubik's Cube with a Robot Hand
OpenAI, Akkaya, I., Andrychowicz, M., Chociej, M., Litwin, M., McGrew, B., Petron, A., Paino, A., Plappert, M., Powell, G., et al. (2019) · arXiv · doi:10.48550/arxiv.1910.07113 · Cited by 602
Analysis and Observations From the First Amazon Picking Challenge
Correll, N., Bekris, K. E., Berenson, D., Brock, O., Causo, A., Hauser, K., Okada, K., Rodriguez, A., Romano, J. M., & Wurman, P. R. (2018) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2016.2600527 · Cited by 425
“…their poor ability to manipulate an object; this capability was not prominent in the APC so far, however future contests are expected to have more populated bins that may require more flexible manipulation and object rearrangement [37], or a more explicit exploitation of the environment [38], [39].”
BackgroundTossingBot: Learning to Throw Arbitrary Objects With Residual Physics
Zeng, A., Song, S., Lee, J., Rodriguez, A., & Funkhouser, T. (2020) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.2988642 · Cited by 282
Self-citationA Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation
Abondance, S., Teeple, C. B., & Wood, R. J. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.3007411 · Cited by 253
Metadata
- Authors
- Dafle, N. C., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S. S., Erdmann, M., Mason, M. T., Lundberg, I., Staab, H., & Fuhlbrigge, T.
- Venue
- 2014 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2014-05
- Pages
- 1578-1585
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2013467411
- Cited by
- 271
- References
- 33
- FWCI
- 16.67
- Type
- conference paper
- Language
- en
- Open access
- green
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- Dafle, N. C., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S. S., Erdmann, M., Mason, M. T., Lundberg, I., Staab, H., & Fuhlbrigge, T. (2014). Extrinsic dexterity: In-hand manipulation with external forces. 2014 IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2014.6907062
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