Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and
  Multi-Modal Planning   Constraining contacts to remain fixed on an object during manipulation limits
the potential workspace size, as motion is subject to the hand's kinematic
topology. Finger gaiting is one way to alleviate such restraints. It allows
contacts to be freely broken and remade so as to operate on different
manipulation manifolds. This capability, however, has traditionally been
difficult or impossible to practically realize. A finger gaiting system must
simultaneously plan for and control forces on the object while maintaining
stability during contact switching. This work alleviates the traditional
requirement by taking advantage of system compliance, allowing the hand to more
easily switch contacts while maintaining a stable grasp. Our method achieves
complete SO(3) finger gaiting control of grasped objects against gravity by
developing a manipulation planner that operates via orthogonal safe modes of a
compliant, underactuated hand absent of tactile sensors or joint encoders.
During manipulation, a low-latency 6D pose object tracker provides feedback via
vision, allowing the planner to update its plan online so as to adaptively
recover from trajectory deviations. The efficacy of this method is showcased by
manipulating both convex and non-convex objects on a real robot. Its robustness
is evaluated via perturbation rejection and long trajectory goals. To the best
of the authors' knowledge, this is the first work that has autonomously
achieved full SO(3) control of objects within-hand via finger gaiting and
without a support surface, elucidating a valuable step towards realizing true
robot in-hand manipulation capabilities.

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The categories of this paper are: dg-ga
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The categories of this paper are: eess
34
The categories of this paper are: chem-ph
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The categories of this paper are: stat
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The categories of this paper are: q-fin
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The categories of this paper are: hep-lat
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The categories of this paper are: alg-geom
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The categories of this paper are: supr-con
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The categories of this paper are: cond-mat
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The categories of this paper are: ao-sci
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The categories of this paper are: hep-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: atom-ph
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The categories of this paper are: chao-dyn
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The categories of this paper are: solv-int
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The categories of this paper are: math-ph