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 - Graphisme, Vision et Robotique, 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.
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Rapport
[Research Report] RR-3770, INRIA. 1999
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https://hal.inria.fr/inria-00072891
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Soumis le : mercredi 24 mai 2006 - 11:11:27
Dernière modification le : mercredi 11 avril 2018 - 01:55:49
Document(s) archivé(s) le : dimanche 4 avril 2010 - 23:26:58

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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〉

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