Dextrous Manipulation by Rolling and Finger Gaiting

Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion of the object and the contact locations, while also adhering to the workspace constraints typical of multingered hands. In this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion planning, coordinated object manipulation, grasp stability and nger gaits to develop a general framework for dextrous manipulation planing. To illustrate our approach, the framework is applied to the problem of manipulating a sphere with three hemi-spherical ngertips. The simulation results