Abslracf-This paper presents a randomized manipulation planner for a multi-fingered hand by switching contact modes. Manipulation planning for such a system should consider changing kinematics and dynamics of the system according to the contact modes. We derive the conditions that would he satisfied in manipulation planning, baed on the kinematical properties of a manipulation system. The conditions allow the planner to assign more contact modes than those corresponding to the relative motion of contact points restricted by constraint foxes. Consequently, this enables dextrous manipulation. In addition, the conditions give the restrictions of feasible contact modes and the number of contact points. Inspired by randomized motion planning techniques, we propose a new algorithm for manipulation planning in order to explore object configuration space, S E ( 3 ) , rapidly and uniformly. The basis for this approach is for the construction of exploring random trees. Simulation examples for 3-D manipulation by switching contact modes are presented to verify the planner's effectiveness.
Yashima et al. REF proposed a randomized planning architecture based on switching of contact modes.
Randomized manipulation planning for a multi-fingered hand by switching contact modes
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
Engineering Computer Science