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cs.RO2026
Two Degree-of-Freedom Vibratory Transport in a Grasp
C. L. Yako, Shenli Yuan, Kenneth Salisbury
In this paper, we use asymmetric vibrations to demonstrate two degree-of-freedom (DoF) in-hand manipulation of grasped parts. The asymmetric vibrations are achieved through closed-…
cs.RO2026
Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers
Ethan Fisk, Taeyoon Lee, Shenli Yuan
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic f…