Title :
Planning in-hand object manipulation with multifingered hands considering task constraints
Author :
Hertkorn, Katharina ; Roa, Maximo A. ; Borst, Christopher
Author_Institution :
Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany
Abstract :
In-hand manipulation with a multifinger hand is defined as changing the object pose from an initial to a final grasp configuration, while maintaining the fingertip contacts on the object surface. Given only the task constraints, represented as a desired motion of the object and an external force to be applied or resisted, the problem can be expressed as finding a good set of contact points on the object and a corresponding hand configuration compatible with the task to be executed. This paper presents a method for solving such problem, taking into account the kinematic structure and torque limits of the hand, the force closure condition (which must be guaranteed during the whole trajectory), and task compatibility. The feasibility of such method is tested in simulation of 2D and 3D examples.
Keywords :
dexterous manipulators; manipulator kinematics; path planning; external force; fingertip contacts; force closure condition; grasp configuration; hand configuration; hand kinematic structure; hand torque limits; in-hand object manipulation planning; multifingered hands; object motion; task compatibility; task constraints; Jacobian matrices; Planning;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630637