2026
Two Degree-Of-Freedom Vibratory Transport in a Grasp
ICRA 2026poster
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-loop position control of a moving surface, which applies a periodic stick-slip waveform to the part to be manipulated. W…