Reorientation planning for a multifingered hand based on orientation states network using regrasp primitives

This paper concerns the reorientative manipulation planning for a multifingered hand to bring the grasped object into a specific desired orientation without being released or intermediate placing and repicking. A planner is presented based on primitives. It basically generates a sequence of two primitives: rotation and pivoting. Use of primitives simplifies the complex three-dimensional reorientation tasks by disintegrating it into a sequence of simple and usually two dimensional motions. In the first off-line phase, executed once only for the given object, the planner constructs a structured states network composed of all those orientation states of the object at which at least one of the rotation or pivoting primitives is feasible. The second online phase of the planner can be repeatedly provoked to find a sequenced route on the states network between the initial and goal orientation. A simulation program has been developed for the proposed planner