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This paper presents an approach to in-hand manipulation planning thatexploits the mechanics of alternating sticking contact. Particularly, weconsider the problem of manipulating a grasped object using external pushes forwhich the pusher sticks to the object. Given the physical properties of theobject, frictional coefficients at contacts and a desired regrasp on theobject, we propose a sampling-based planning framework that builds a pushingstrategy concatenating different feasible stable pushes to achieve the desiredregrasp. An efficient dynamics formulation allows us to plan in-handmanipulations 100-1000 times faster than our previous work which builds upon acomplementarity formulation. Experimental observations for the generated plansshow that the object precisely moves in the grasp as expected by the planner.  Video Summary -- youtu.be/qOTKRJMx6Ho

Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts