Flipping Manipulation with a Two-Fingered Parallel-Jaw Gripper
Wenxi Liao, Shao Hu, Zhitong Liu, Xin Jiang
Abstract
Industrial part reorientation remains a critical challenge in automated manufacturing workflows, particularly with parallel-jaw grippers lacking the dexterity for complex manipulations. This paper presents a systematic flipping strategy for structured environments. A quasi-static force equilibrium model is developed to characterize multi-contact manipulation systems, and stability criteria are derived through wrench space analysis, enabling A*-based optimal trajectory generation within the derived stable configuration space. To ensure persistent fingertip-object contact, adaptive impedance control dynamically adjusts gripper stiffness based on real-time force thresholds, preventing unintended detachment. Experimental validation demonstrates robust performance in two representative scenarios:1) cube flipping on a compliant surface(84.3g, 90% success over 50 trials), 2) vision-free continuous pivoting of an irregular part on a rigid substrate(56g, 88% success over 50 trials). The methodology requires neither environmental modification nor expensive tactile sensing, showing promise for practical deployment in structured manufacturing systems.
BibTeX
@inproceedings{iros2025_flippingmanipula,
title = {Flipping Manipulation with a Two-Fingered Parallel-Jaw Gripper},
author = {Wenxi Liao and Shao Hu and Zhitong Liu and Xin Jiang},
booktitle = {IROS 2025},
year = {2025}
}