Dextrous manipulation with rolling contacts

By Li Han, Yi-Sheng Guan, Z. X. Li, Shian Qi, J. Trinkle. 1997

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Citations in the corpus

Solving Rubik's Cube with a Robot Hand (2019, background): “This includes rolling [10, 41, 42, 15, 26], sliding [15, 100], finger gaiting [42], finger tracking [90], pushing [24], and re-grasping [109, 25].”
Learning dexterous in-hand manipulation (2018, background): “This includes rolling (Bicchi and Sorrentino, 1995; Cherif and Gupta, 1999; Doulgeri and Droukas, 2013; Han et al., 1997; Han and Trinkle, 1998), sliding (Cherif and Gupta, 1999; Shi et al.”
Planning quasi-static fingertip manipulations for reconfiguring objects (1999, background): “and planning [2], [16], [22] or addressed the partition of the search spaces into specific regions where optimal control may be applied for planning [44].”
Extrinsic dexterity: In-hand manipulation with external forces (2014, background): “Subsequent work relaxed those assumptions to include rolling [13, 14], sliding [15], ﬁnger gaiting [16, 17, 18, 19, 20, 21], and global controllability of object orientation [22, 23].”
Learning Dexterous In-Hand Manipulation. (2018, background): “This includes rolling [8, 22, 23, 9, 13], sliding [9, 59], finger gaiting [23], finger tracking [51], pushing [11], and re-grasping [65, 12].”
On dexterity and dexterous manipulation (2011, background): “Rolling: This type of manipulation is only realizable for objects/fingers of certain geometries but can also be performed by non-fingered end effectors [18,19].”
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity (2000, background): “Exploitation of rolling with manipulative purposes has been considered, among others, by [54], [152], [55], [76].”
Dextrous manipulation by rolling and finger gaiting (1998, background): “As for the grasp adjustment, some algorithms have been proposed to improve the grasp quality locally[19, 6] or to adjust the contact points to accommodate object movement [4].”