System and method for providing in hand robotics dexterous manipulation of objects

A system for providing in hand robotics dexterous manipulation of an object, comprising:

• a memory storing instructions when executed by a processor cause the processor to:
• determine a geometry of an object, a position of the object, and a placement of at least one robotic finger of a robot upon the object;
• compute a direction of rolling or rotation of the object by the at least one robotic finger;
• update a position of the object that is manipulated by the robot, wherein the position of the object is updated based on a motion of joints of the at least one robotic finger;
• and
• update contact points of the at least one robotic finger with respect to contacting the object in a manner that ensures that a viable grasp is enforced to have force closure to retain the object.

A non-transitory computer readable storage medium storing instructions that when executed by a computer, which includes a processor performs a method, the method comprising:

• determining a geometry of an object, a position of the object, and a placement of at least one robotic finger of a robot upon the object;
• computing a direction of rolling or rotation of the object by the at least one robotic finger;
• updating a position of the object that is manipulated by the robot, wherein the position of the object is updated based on a motion of joints of the at least one robotic finger;
• and
• updating contact points of the at least one robotic finger with respect to contacting the object in a manner that ensures that a viable grasp is enforced to have force closure to retain the object.