Intelligent Manipulation and Its Realization with Parallel Two-fingered Grippers - Motion Planning by Rotating and Sliding Manipulations

We will de ne states as descriptions of all environmental situations and operators as those things which transform one state into another. We will then introduce a state-space approach[4] and solve problems by conducting searches from the initial state to the goal state. Fig.3 represents applications of this framework to an intelligent manipulation system which can pick, place, slide, and dexterously manipulate an object.