This work presents a method for achieving complete SO(3) finger gating control of grasped objects against gravity, using a manipulation planner that operates via orthogonal safe modes of a compliant, underactuated hand absent of tactile sensors or joint encoders. The method takes advantage of system compliance to allow the hand to more easily switch contacts while maintaining a stable grasp, and uses a low-latency 6D pose object tracker for online feedback and adaptive recovery from trajectory deviations. The method is demonstrated on a real robot manipulating both convex and non-convex objects, and represents a valuable step towards realizing true robot in-hand manipulation capabilities.
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