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Planning for In-Hand Dextrous Manipulation
| Content Provider | Scilit |
|---|---|
| Author | Agarwal, Pankaj K. Kavraki, Lydia E. Mason, Matthew T. |
| Copyright Year | 1998 |
| Description | We describe a global motion planner for manipulat ing 3D objects by a dextrous robotic hand. We focus on the so-called re-configuration problem: find a feasi ble trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a final desired configuration o f the object. The planner is designed as a three-level process combining a graph search on the configuration space of the object and a local planner that solves for feasible instantaneous quasi-static mo tions of the entire manipulation system. The planner is applied in simulation for achieving several complex re-configuration tasks for (piecewise-) smooth convex objects demonstrating the promise of our approach. Book Name: Robotics: The Algorithmic Perspective |
| Related Links | https://content.taylorfrancis.com/books/download?dac=C2010-0-47274-4&isbn=9780429064548&doi=10.1201/9781439863886-15&format=pdf |
| Ending Page | 128 |
| Page Count | 16 |
| Starting Page | 113 |
| DOI | 10.1201/9781439863886-15 |
| Language | English |
| Publisher | Informa UK Limited |
| Publisher Date | 1998-12-15 |
| Access Restriction | Open |
| Subject Keyword | Book Name: Robotics: The Algorithmic Perspective Manipulation Contact Forces Re Configuration Ble Trajectory |
| Content Type | Text |
| Resource Type | Chapter |
