Dexterous Manipulation: A Geometrical Reasoning Point of View

| This paper addresses the problem of dexterous manipulation of objects using an articulated hand. We describe some geometric reasoning techniques that can be applied to solve active compliance tasks. In this context, ne motion strategies are derived from the positions and forces between the grasped object and the ngers of the hand. Our approach is based in the minimum power principle of the grasping system, using the force/position information to determine a sequence of well coordinated manipulation actions ((xed-point, rolling and sliding). Diierent manipulation situations are illustrated using a semi-spherical model of the ngertips. To test the techniques described in this paper, we present an example showing an articulated hand changing the orientation of a polyhedral object while respecting the stability constraints of the grasp. Contribution of the paper | The contribution of this paper is an approach to solve the complex problem of Dexterous manipulation using geometrical reasoning techniques. We use a combinatorial manipulation mode among xed-point, rolling and sliding and describe a general algorithm using single geometrical criteria to determine the feasibility of the task. The purpose of this work is to generate a sequence of manipulation modes to generate the nominal trajectory of a compliant task with objects grasped by a dexterous robotic hands. The potential application of the method can be expanded for solving cooperative tasks using multi-ngered/linked robots when the eeector geometry is known. Abstract This paper addresses the problem of dexterous manipulation of objects using an articulated hand. We describe some geometric reasoning techniques that can be applied to solve active compliance tasks. In this context , ne motion strategies are derived from the positions and forces between the grasped object and the ngers of the hand. Our approach is based in the minimum power principle of the grasping system, using the force/position information to determine a sequence of well coordinated manipulation actions ((xed-point, rolling and sliding). Diierent manipulation situations are illustrated using a semi-spherical model of the n-gertips. To test the techniques described in this paper, we present an example showing an articulated hand changing the orientation of a polyhedral object while respecting the stability constraints of the grasp.