Robot in-hand manipulation is an important skill for robots to carry out sophisticated tasks that require moving the grasped object within hand. In this work, we present the Roller Grasper V3, a nonanthropomorphic robot grasper with a steerable roller on each of its four fingertips, and a manipulation architecture that enables the Roller Grasper V3 to achieve full 6-DoF manipulation of the grasped object in $SE(3)$ . The manipulation architecture consists of a high-level planner that searches for a feasible path with waypoints for the object to be manipulated, and a low-level control policy that is used to navigate the object in between the adjacent waypoints. The method was experimentally validated on the Roller Grasper V3 to manipulate multiple objects with different geometries and topologies.

中文翻译：

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手持式滚轮抓取器 V3 的设计与控制


机器人手动操作是机器人执行复杂任务的一项重要技能，这些任务需要移动手中抓取的物体。在这项工作中，我们展示了 Roller Grasper V3，这是一种非拟人机器人抓取器，其四个指尖上各有一个可转向滚轮，以及一种操纵架构，使 Roller Grasper V3 能够在 $SE 中实现对抓取对象的完整 6-DoF 操纵(3)$。操纵架构由一个高级规划器和一个低级控制策略组成，高级规划器为要操纵的对象搜索带有路点的可行路径，低级控制策略用于在相邻路点之间导航对象。该方法在 Roller Grasper V3 上进行了实验验证，可操纵具有不同几何形状和拓扑结构的多个物体。