# Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts

arXiv: https://arxiv.org/abs/2011.07132 · HTML: https://mlsanity.com/paper/2011.07132/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Nov 2020.

## Built on by (most cited first, 1 of 1)

- [Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning](https://mlsanity.com/paper/2503.02738/) (2025)

## Abstract (arXiv)

Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to within-hand object translation and rotation, though this manipulation was limited to planar actions. In this work we extend the capabilities of this system to 3D manipulation with a novel region-based WIHM planning algorithm and utilizing extrinsic contacts. The ability to modulate finger friction enhances extrinsic dexterity for three-dimensional WIHM, and allows us to operate in the quasi-static level. The region-based planner automatically generates 3D manipulation sequences with a modified A* formulation that navigates the contact regions between the fingers and the object surface to reach desired regions. Central to this method is a set of object-motion primitives (i.e. within-hand sliding, rotation and pivoting), which can easily be achieved via changing contact friction. A wide range of goal regions can be achieved via this approach, which is demonstrated via real robot experiments following a standardized in-hand manipulation benchmarking protocol.