# Robust In-Hand Manipulation with Extrinsic Contacts

arXiv: https://arxiv.org/abs/2403.18960 · HTML: https://mlsanity.com/paper/2403.18960/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Mar 2024.

## Built on by (most cited first, 2 of 2)

- [Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls](https://mlsanity.com/paper/2507.14721/) (2025)
- [AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction](https://mlsanity.com/paper/2609.08493/) (2026)

## Abstract (arXiv)

We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact interactions which can be very susceptible to uncertainties in kinematic and physical parameters. Therefore, we propose a robust in-hand manipulation method, which consists of two parts. First, an in-gripper mechanics model that computes a na"ive motion cone assuming all parameters are precise. Then, a robust planning method refines the motion cone to maintain desired contact mode regardless of parametric errors. Real-world experiments were conducted to illustrate the accuracy of the mechanics model and the effectiveness of the robust planning framework in the presence of kinematics parameter errors.