A vibration-equipped parallel gripper can now control both position and orientation of thin objects by first rotating the object in a small circle, then translating it through the gripper center.
Extrinsic dexterity: In-hand manipulation with external forces,
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Vibration-based Full State In-Hand Manipulation of Thin Objects
A vibration-equipped parallel gripper can now control both position and orientation of thin objects by first rotating the object in a small circle, then translating it through the gripper center.