We developed a two-finger robot that can grasp, rotate in-hand, and place an uneven object. To improve the success rate of in-hand rotation, three pressure sensors were mounted on each finger to detect the center of pressure (CoP) on each finger. Two approaches, called object on-the-fly adjustment and re-grasp object movement (ROM), were proposed to use the obtained CoP information to adjust the position of each finger before performing in-hand rotation and were compared with a general in-hand rotation movement. Evaluation experiments were conducted on several objects, and the effectiveness of the proposed approaches was demonstrated with the highest success rate of 93% for ROM compared with 63% for general in-hand rotation.

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