There is no thing like renaming to the Amazon S3 SDK. Basically, what you need to do is copy the object and then delete the old one.
require 'aws-sdk'
require 'open-uri'
creds = Aws::SharedCredentials.new(profile_name: 'my_profile')
s3 = Aws::S3::Client.new( region: 'us-east-1',
credentials: creds)
s3.copy_object(bucket: "my_bucket",
copy_source: URI::encode("my_bucket/MyBookName.pdf"),
key: "my_new_book_name.pdf")
s3.delete_object(bucket: "my_bucket",
key: "MyBookName.pdf")
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