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Abstract
  • We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties
    – prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object
    can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or
    sliding motion between the fingertips and object. The proposed control strategy employs estimated contact point locations,
    which can be obtained from modern tactile sensors with good spatial resolution. The feasibility of the strategy is proven
    in simulation experiments employing a physics engine providing exact contact information. However, to motivate the
    applicability in real world scenarios, where only coarse and noisy contact information will be available, we also evaluated
    the performance of the approach when adding artificial noise.
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