{"ID":2834111,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.02951","arxiv_id":"2512.02951","title":"Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger","abstract":"Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation.","short_abstract":"Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale m...","url_abs":"https://arxiv.org/abs/2512.02951","url_pdf":"https://arxiv.org/pdf/2512.02951v1","authors":"[\"Nicholas Baiata\",\"Nilanjan Chakraborty\"]","published":"2025-12-02T17:23:44Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}