Dexterous rotations of polyhedra

Studies a strategy for dexterous manipulation, called finger tracking. It is shown that the paradigm of finger tracking may be used to control the fingers of a robot hand to generate rotational motions of the grasped object. The notion of manipulation refers to the reorientation of an object by a mechanical hand by some degrees, about some axis. The reorientation is accomplished by fine finger motions, and the hand never drops the object in the process. The hand can maintain planar rotational motions. This provides for a simple primitive for high-level, task-directed algorithms, toward relieving users from the complexity of low-level manipulation control.<<ETX>>