In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects

We present an algorithm called nger tracking for in-hand manipulation of three dimensional objects with independent robot ngers. We describe and analyze the diierential control for nger tracking and extend it to on-line continuous control for a set of cooperating robot ngers. We show experimental data from a simulation. Finally, we discuss global control issues for nger tracking and compute lower bounds for reorientation by nger tracking. Our algorithm is computationally eecient, exact, and takes into consideration the full dynamics of the system.