On Object Manipulation Methods using Finger Relocation ∗

This paper presents a new smooth object manipulation method which is based on finger relocation. It relies on a special stratified manipulation concept. This method performs the stratified motion planning algorithm, not using the exact kinematic model but a fictitious system. The process provides a simpler control algorithm because it substitutes the generally hard symbolic computation problem with a simple (almost pure numerical) computations. Finally, the paper introduces the simulation results for the new method.