Implementing a force strategy for object re-orientation

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Solving Rubik's Cube with a Robot Hand (2019, background): “Dexterous manipulation has been an active area of research for decades [32, 91, 9, 74, 64].”
Learning dexterous in-hand manipulation (2018, background): “Dexterous manipulation has been an active area of research for decades (Bicchi, 2000; Fearing, 1986; Ma and Dollar, 2011; Okamura et al., 2000; Rus, 1999).”
Learning Dexterous In-Hand Manipulation. (2018, background): “Dexterous manipulation has been an active area of research for decades [17, 52, 7, 42, 37].”
Planning quasi-static fingertip manipulations for reconfiguring objects (1999, methodology): “M ANIPULATION by artificial multifingered hands has received considerable attention, and several issues related to grasping and dexterous manipulation within the hand have been extensively investigated in the literature: the analysis/synthesis of form- and force-closure grasps [1], [36], kinematics ”
ManipulaTHOR: A Framework for Visual Object Manipulation (2021, background): “A long-standing problem in robotics research is object manipulation [12, 4, 5, 31, 39, 6, 9, 21, 10].”