Dexterous rotations of polyhedra

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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): “, 2017), finger gaiting (Han and Trinkle, 1998), finger tracking (Rus, 1992), pushing (Dafle and Rodriguez, 2017), and re-grasping (Dafle et al.”
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].”
Dexterous manipulation using both palm and fingers (2014, background): “A wide range of manipulation strategies, such as finger gaiting [5], finger pivoting [6], rolling/sliding [7]–[10], and regrasping [11], have been proposed for achieving different dexterous tasks.”
A compliant, underactuated hand for robust manipulation (2013, background): “For instance, picking up a key in an opposed pinch grasp and putting it into a lock often entails reorienting the key into a pinched configuration between the fingers (Figure 4(c)), then rotating the key so that the blade is aligned with the axis of the lock (Figure 4(b)), as in Rus (1992).”