An algorithm for object manipulation with three-fingered robotic hands

Multi-fingered manipulation has been an hot topic in the past decades, and a number of algorithms have been proposed with their own advantages and disadvantages. In this paper, we present a simple and effective algorithm for manipulating objects with three-fingered robotic hand. We first build the mathematical relationship between the configuration of each fingertip and the configuration of the plane determined by the three contact points. We then present a method to control the configuration of the grasped object through the movement of fingertips based on the above mathematical relationship. We finally verify the effectiveness of the presented manipulation algorithm with a simulation.