Dextrous Manipulation by Rolling and Finger Gaiting

Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. To plan such tasks, one must control both the motion of the object and the contact locations, while also adhering to the workspace constraints typical of multi-fingered hands. I n this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion planning, coordinated object manipulation, grasp stability and finger gaits to develop a general framework for dextrous manipulation planing. To illustrate our approach, the framework is applied to the problem of manipulating a sphere with three hemi-spherical fingertips. The simulation results are presented.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Li Han, Jeffrey C. Trinkle
• Keywords: Dextrous Manipulation, Dextrous Manipulation Planing, Dextrous Manipulation Tasks, ICRA 1998, Robotics