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Planning reorientation of an object with a multifingered hand

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2 Author(s)
Omata, T. ; Electrotech. Lab., Ibaraki, Japan ; Nagata, K.

A multifingered hand can reorient an object by regrasping it in a hand. This paper presents a planner which plans a sequence of repositioning of fingers for horizontal rotation of an object for a desired angle. The authors previously developed an algorithm for computing contact positions of fingers where they can maintain equilibrium. The algorithm is used to compute a new contact position of a removed finger where there is a finger which can be removed next. Based on these computations, the authors develop an algorithm for searching for a sequence of repositioning of fingers. Examples show that the algorithm can efficiently find sequences which require the number of repositioning steps

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994