We present a novel robotic manipulation technique that we call robotic edge rolling. It refers to transporting a cylindrical object by rolling on its circular edge, as human workers might maneuver a gas cylinder on the ground.
We present a new method for picking objects through quasistatic in-hand manipulation with endeffectors that have no degrees of freedom. Our stable manipulation/ grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Practically, our robotic in-hand manipulation technique can facilitate low-cost manipulation and …