HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Reports

Global Planning for Dextrous Re-orientation of Rigid Objects : Finger Tracking with Rolling and Sliding

Moëz Cherif 1 Kamal K. Gupta 2
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : We address global motion planning for quasi-static re-orientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple human-like manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (wrt the palm) --an extended version of the original finger tracking scheme of Rus [25, 26]. This new version essentially incorporates frictional rolling and sliding at the fingertips and deals with the related contact kinematics and quasi-static motion/force prediction issues. Our contribution is twofold. First, we describe an analysis showing that this extended scheme is suitable for reducing the space of the object motions; thereby making motion planning easier and operating on a search space of low dimension- . Our second contribution is a planner that exploits such a search space reduction and applies the extended finger tracking at the core of a multi-leve- l hierarchical framework to search for global re-orientation trajectories. The planner has been implemented and used for achieving several non-trivial frictional re-orientation tasks that show the capabilities and the promise of our approach.
Document type :
Reports
Complete list of metadata

https://hal.inria.fr/inria-00072891
Contributor : Rapport de Recherche Inria Connect in order to contact the contributor
Submitted on : Wednesday, May 24, 2006 - 11:11:27 AM
Last modification on : Friday, February 4, 2022 - 3:23:04 AM
Long-term archiving on: : Sunday, April 4, 2010 - 11:26:58 PM

Identifiers

  • HAL Id : inria-00072891, version 1

Collections

Citation

Moëz Cherif, Kamal K. Gupta. Global Planning for Dextrous Re-orientation of Rigid Objects : Finger Tracking with Rolling and Sliding. [Research Report] RR-3770, INRIA. 1999. ⟨inria-00072891⟩

Share

Metrics

Record views

65

Files downloads

265