Dextrous manipulation using qualitative reasoning. I. Determination of a desired object displacement

In this work, a ´qualitative reasoning´ (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A ´qualitative´ formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.<>