In this paper, the authors proposed a novel reactive strategy to solve a unknown object local manipulation problem with an multifingered robot hand. In this method, the micro manipulation assumption is proposed and the object can be manipulated within the robot hand workspace without the active and explicit controlling about the rolling and sliding of the fingertips on the object. A 6 D.O.F rea...

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the endeffector. We use a dual arm robot with p...

This paper focuses on the soft contact-based rigid object manipulation. First, a dynamic model of an object manipulation by two-fingered robot hand with soft fingertips is presented. In particular, we deal with a planar case to show certain valuable features in softfingertiped manipulation tasks. Next, in order to analyze the motion of using soft fingertips, a dynamic manipulation control schem...

My research focus is on using continuous state partially observable Markov decision processes (POMDPs) to perform object manipulation tasks using a robotic arm. During object manipulation, object dynamics can be extremely complex, non-linear and challenging to specify. To avoid modeling the full complexity of possible dynamics, I instead use a model which switches between a discrete number of s...