In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion

Understand

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model.

• In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered spaces.
• We address this limitation by introducing a method to reorient unknown objects using tactile sensing.
• It incrementally builds a probabilistic estimate of the object shape and pose during task-driven manipulation.