TO THE IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1 Planning Quasi - static Motions forRe - con guring
نویسنده
چکیده
We address the global motion planning aspects of dextrous manipulation by a multi-ngered robotic hand. The speciic task we address is: starting from a given initial grasp of a 3D object O, nd feasible quasi-static trajectories (rolling/sliding motions and forces) for the ngertips to move O to a desired nal connguration. We call this the re-connguration problem. Our planner is based on a two-level algorithm combining a graph search on the connguration space of the object and a local planner that solves for instantaneous quasi-static motions of the entire manipulation system. The planner is used for simulating several complex re-connguration tasks for polyhedral and smooth objects demonstrating the practicality and the promise of our approach.
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تاریخ انتشار 1996