Why is this robot slowly dropping the object?
1 points by fanf
1 points by fanf
This is a popular-science presentation, where I explore my PhD research on in-hand sliding manipulation with robotic grippers and tactile sensing.
The focus has been on friction modeling and perception with tactile sensing. The simple parallel gripper might not be the first thought when you think about dexterity with robotic grippers.
The video is based on my research papers:
"Planar friction modeling with LuGre dynamics and limit surfaces" Published in IEEE Transactions on Robotics (T-RO). https://arxiv.org/abs/2308.01123v3
"Perception, control, and hardware for in-hand slip-aware object manipulation with parallel grippers" Published in the International Journal of Robotics Research (JRR). https://arxiv.org/abs/2410.19660
"Friction Estimation for In-Hand Planar Motion" (ISER 2025). https://arxiv.org/abs/2507.06824
"Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing" In submission, with a preprint available on arXiv. https://arxiv.org/abs/2606.11952
Some of the work shown in the video has not yet been submitted for publication.