Practical motion planning for dextrous re-orientation of polyhedra

This paper addresses the motion planning problem for dextrous manipulation by an artificial multifingered hand. We focus on the task of re-orienting polyhedral objects and present a practical motion planner for achieving quasistatic manipulations by a four-fingered hand. The planner makes use of a simple manipulation strategy in which a single finger is moved and the other three are fixed. We describe how this scenario is exploited for reducing the space of trajectory solutions and used within a two-level incremental process to search for global re-orientation motions. The planner has been implemented and used for achieving several complex re-orientation tasks with frictional and frictionless contacts that show the practicality of our approach.

[1]  Kamal K. Gupta,et al.  Planning quasi-static motions for re-configuring objects with a multi-fingered robotic hand , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  S. Shankar Sastry,et al.  Kinematics and control of multifingered hands with rolling contact , 1989 .

[3]  S. Shankar Sastry,et al.  Grasping and Coordinated Manipulation by a Multifingered Robot Hand , 1989, Int. J. Robotics Res..

[4]  David J. Montana,et al.  The Kinematics of Contact and Grasp , 1988, Int. J. Robotics Res..

[5]  S. Shankar Sastry,et al.  Dynamic control of sliding by robot hands for regrasping , 1992, IEEE Trans. Robotics Autom..

[6]  David L. Brock,et al.  Enhancing the dexterity of a robot hand using controlled slip , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[7]  J. Kenneth.  Kinematic and force analysis of articulated hands , 1985 .

[8]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..

[9]  S. Shankar Sastry,et al.  On motion planning for dextrous manipulation, part I: the problem formulation , 1989 .

[10]  Ronald S. Fearing,et al.  Simplified Grasping and Manipulation with Dextrous Robot Hands , 1984, 1984 American Control Conference.

[11]  Van-Duc Nguyen,et al.  Constructing force-closure grasps in 3D , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[12]  Jr. J. Kenneth Salisbury,et al.  Kinematic and force analysis of articulated hands , 1982 .

[13]  S. Shankar Sastry,et al.  A mathematical introduction to robotics manipulation , 1994 .

[14]  Christos H. Papadimitriou,et al.  The Geometry of Grasping , 1990, Int. J. Robotics Res..

[15]  Shahram Payandeh,et al.  Planning controlled slips in dexterous manipulation , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  Antonio Bicchi,et al.  Dexterous manipulation through rolling , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[17]  Jeffrey C. Trinkle,et al.  Planning for Dexterous Manipulation with Sliding Contacts , 1990, Int. J. Robotics Res..

[18]  Kamal K. Gupta.  Motion planning for re-orientation using finger tracking: landmarks in SO(3)/spl times//spl omega/ , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[19]  Antonio Bicchi,et al.  On the Closure Properties of Robotic Grasping , 1995, Int. J. Robotics Res..

[20]  Ronald S. Fearing,et al.  Implementing a force strategy for object re-orientation , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[21]  Arthur C. Sanderson,et al.  Minimization of energy in quasi-static manipulation , 1988, IEEE Trans. Robotics Autom..