In-Hand Singulation, Scooping, and Cable Untangling with a 5 DOFs
Tactile-Reactive Gripper

Yuhao Zhou1*, Pokuang Zhou1*, Shaoxiong Wang2, Yu She1
1Purdue University 2CSAIL, MIT
arXiv Video

Overall Video (Audio included)

In-Hand Singulation Manipulation

Soft foam sphere

Peanut

Almond

Golf ball

3D-printed PLA ball

Tree seed 1

Tree seed 2

M5x10 screw

Artificial strawberry

In-Hand Scooping Manipulation

Credit Card Insertion

Chip facing outward
(towards the camera)

Chip facing inward

Backside with no feature: in-hand flip

Tactile-only 2-Cable Untangling

Untangling one-knot at one time

Untangling two-knot at one time

Untangling three-knot at one time

Failure case

Different Cables

2.3mm TPE

3.5mm Polyester Shoelace

4mm Single Braid Nylon

5mm Double Braid Nylon

4.3mm Rubber + 4mm Single Braid Nylon

Cable Untangling Benchmark I:
Purely External Camera Vision

Success Cases

Failure Cases

w/o fingernail

Cable Untangling Benchmark II:
Visual + Tactile

Success Cases

Failure Cases

Tactile-only 3-Cable Untangling

Special Case:
Two Parallel Lines, Third Wrapped Around

Failure case