Title :
On motion planning for dexterous manipulation. I. The problem formulation
Author :
Li, Zexiang ; Canny, J.F. ; Sastry, Shankar S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The authors formulate the dextrous manipulation problem for a robot hand. First, dextrous manipulation is decomposed into coordinated manipulation, rolling motion, sliding motion, and finger relocation. Then the authors develop motion constraints for each of the manipulation modes and show that for finger motions that satisfy these constraints there exists a well-defined lift to the total space that links two contact configurations. Of special note is the incorporation of nonholonomic as well as holonomic and unilateral as well as bilateral constraints in motion planning
Keywords :
position control; robots; bilateral constraints; coordinated manipulation; dexterous manipulation; finger relocation; holonomic; motion constraints; motion planning; nonholonomic; robot hand; rolling motion; sliding motion; unilateral; Fingers; Joining processes; Laboratories; Manipulators; Motion planning; Orbital robotics; Robot kinematics; Trajectory;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100078
