Regrasp planning for a 4-fingered hand manipulating a polygon
نویسندگان
چکیده
This paper proposes an approach for computing a sequence of finger repositioning that allows a 4fingered hand to switch from one grasping configuration to another while maintaining a force-closure grasp of a polygon during the entire process. Assuming frictional point contacts, the proposed approach is based on exploring a structure called switching graph. The connectivity of this structure captures ability to switch from one grasp to another and allows regrasp planning to be formulated as a graph search. The proposed approach has been implemented and some preliminary results are presented.
منابع مشابه
Regrasp planning for a 5-fingered hand manipulating a polyhedron
This paper addresses the problem of a 5fingered hand manipulating a polyhedron. In particular, assuming frictional point contacts, we present an approach for computing a sequence of finger repositioning that allows the hand to switch from one grasping configuration to another while maintaining a force-closure grasp of the polyhedron during the entire process. The proposed approach captures abil...
متن کاملStable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a samp...
متن کاملA Generic Motion Planner for Robot Multi-fingered Manipulation
This paper addresses the dexterous manipulation-planning problem, which deals with motion planning for multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach capable to compute object and finger trajectories as well as the finger relocation sequence, in order to link any two given configurations of the ...
متن کاملGeneric Motion Planner for Robot Multi-fingered Manipulation
This paper addresses the dexterous manipulation-planning problem, which deals with motion planning for multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach capable to compute object and finger trajectories as well as the finger relocation sequence, in order to link any two given configurations of the ...
متن کاملNon-dimensionalized performance indices based optimal grasping for multi-fingered hands
When a multi-fingered hand grasps an object, the ways to grasp it stably are infinite, and thus an optimal grasp planning is necessary to find the relatively optimized grasp points on object for achieving the objective of the given grasping and manipulating task. For this, we first define several grasp indices to evaluate the quality of each feasible grasp. Since the physical meanings of the de...
متن کامل