ARTICLE Yuan_T-RO_2024/IDIAP Design and Control of Roller Grasper V3 for In-Hand Manipulation Yuan, Shenli Shao, Lin Feng, Yunhai Sun, Jiatong Xue, Teng Yako, Connor Bohg, Jeannette Salisbury, J. Kenneth EXTERNAL http://publications.idiap.ch/attachments/papers/2026/Yuan_T-RO_2024.pdf PUBLIC IEEE Transactions on Robotics 2024