  The ability to grasp and manipulate small objects in cluttered environments
remains a significant challenge. This paper introduces a novel approach that
utilizes a tactile sensor-equipped gripper with eight degrees of freedom to
overcome these limitations. We employ DenseTact 2.0 for the gripper, enabling
precise control and improved grasp success rates, particularly for small
objects ranging from 5mm to 25mm. Our integrated strategy incorporates the
robot arm, gripper, and sensor to manipulate and orient small objects for
subsequent classification effectively. We contribute a specialized dataset
designed for classifying these objects based on tactile sensor output and a new
control algorithm for in-hand orientation tasks. Our system demonstrates 88% of
successful grasp and successfully classified small objects in cluttered
scenarios.
