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This paper presents a feedback-control framework for in-hand manipulation(IHM) with dexterous soft hands that enables the acquisition of manipulationskills in the real-world within minutes. We choose the deformation state of thesoft hand as the control variable. To control for a desired deformation state,we use coarsely approximated Jacobians of the actuation-deformation dynamics.These Jacobian are obtained via explorative actions. This is enabled by theself-stabilizing properties of compliant hands, which allow us to use linearfeedback control in the presence of complex contact dynamics. To evaluate theeffectiveness of our approach, we show the generalization capabilities for alearned manipulation skill to variations in object size by 100 %, 360 degreechanges in palm inclination and to disabling up to 50 % of the involvedactuators. In addition, complex manipulations can be obtained by sequencingsuch feedback-skills.

Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation