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IJRR
2002

On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations

14 years 3 days ago
On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations
This paper presents two object manipulation planning methods based on fitted stratified and semi-stratified approaches using finger relocations. The problem is discussed in the framework of a motion planning problem. The goal of the methods is to steer an object from an initial configuration to a final configuration while it is possible to reposition the fingertips on the surface in a predefined way. We assume there is no rolling and sliding but finger relocations are allowed. The first technique follows a pure stratified approach, however unlike the previously published method, the exact kinematic model of the manipulation system is matched with a virtual model masking the behavior of the original system. This provides a simpler model than the earlier stratified method by reducing the generally hard symbolic computation problem to a simple (almost pure numerical) one. The paper also introduces a semi-stratified manipulation planning based on the newly defined fitted system. This seco...
István Harmati, Béla Lantos, Shahram
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 2002
Where IJRR
Authors István Harmati, Béla Lantos, Shahram Payandeh
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