Dynamic control of sliding by robot hands for regrasping

The problem of dynamic control of a multifingered hand manipulating an object is considered, under the condition that some of the fingertips slide on the object surface. This work has many useful applications when considered in conjunction with work already done in the area of regrasping. In performing certain tasks with grasped objects, it is often necessary to change the contact locations of the fingers on the object. One method of achieving this is to break and remake the contacts; another method is to slide the fingertips on the object surface. This work provides a dynamic coordinated control scheme for a hand by which one can perform regrasping and reorientation of an object in the planar case