# Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers

arXiv: https://arxiv.org/abs/2410.19660 · HTML: https://mlsanity.com/paper/2410.19660/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Oct 2024.

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

- [Cross-Modal Visuo-Tactile Object Perception](https://mlsanity.com/paper/2604.02108/) (2026)

## Abstract (arXiv)

Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control, and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object's orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture's novel capabilities for manipulating objects with flat surfaces.