Motion planning for re-orientation using finger tracking: landmarks in SO(3)/spl times//spl omega/

In this paper, we study the following motion planning problem for dexterous manipulation: devise a global plan that a dexterous hand can use to actively manipulate an object from a given initial orientation to a desired final orientation. We propose an approach that uses a local planner to search the orientation state space (S0(3)/spl times//spl Omega/) of the object by placing random landmarks in it. The local planner used in our implementation is a trajectory generator on SO(3) along with the finger tracking strategy proposed by Rus (1992). We report initial experiments that indicate the promise of our approach.

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