An Overview of Dexterous Manipulation
نویسندگان
چکیده
This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp planning and quality measures. We look at various midand lowlevel control frameworks, and then compare manipulation versus exploration. Finally, we list what we see as the current limiting factors in dexterous manipulation, and review the state of the art and future of the eld.
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