1 I n t r o d u c t i o n Multifingered robot hands have a potential advantage to perform various skillful tasks like human hands. So far, much research has been done on multifingered robot hands such as the stability of grasp, realization of the equilibrium grasp, the force closure grasp(the grasped object can exert the 6 DOF external wrench), analysis of contact force[l, 2] and manipulation o...

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled...