Towards Practical Global Motion Planning for In-hand Manipulation of 3d Objects towards Practical Global Motion Planning for In-hand Manipulation of 3d Objects
نویسنده
چکیده
| We describe a global motion planner for manipulating 3D objects by a dextrous multi-ngered robotic hand. We focus on the so-called re-connguration problem: nd a feasible quasi-static trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a nal desired connguration of the object. The planner is designed as a two-level process combining a graph search on the connguration space of the object and a local planner that solves for feasible instantaneous quasi-static motions of the entire manipulation system. The planner is applied in simulation for achieving several complex re-connguration tasks for (piecewise-) smooth convex objects demonstrating the practicality and the promise of our approach. Abstract We describe a global motion planner for manipulating 3D objects by a dextrous multi-ngered robotic hand. We focus on the so-called re-connguration problem: nd a feasible quasi-static trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a nal desired connguration of the object. The planner is designed as a two-level process combining a graph search on the connguration space of the object and a local planner that solves for feasible instantaneous quasi-static motions of the entire manipulation system. The planner is applied in simulation for achieving several complex re-connguration tasks for (piecewise-) smooth convex objects demonstrating the practicality and the promise of our approach.
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