Planning for In-hand Dextrous Manipulation
نویسنده
چکیده
| We describe a global motion planner for manipulating 3D objects by a dextrous robotic hand. We focus on the so-called re-connguration problem: nd a feasible 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 three-level process combining a graph search on the conngu-ration 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 promise of our approach.
منابع مشابه
The Planning and Control of Robot Dextrous Manipultation
Dextrous manipulation is a fundamental problem in the study of multi ngered robotic hands. Given a robotic hand and an object to be manipulated by the hand in an environment lled with obstacles, the main objectives of dextrous manipulation are to have the hand grasp the object and transfer it from a start con guration to a goal con guration without collision. To ful ll such a task in general, w...
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