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A Generic Motion Planner for Robot Multi-fingered Manipulation

Abstract : This paper addresses the dexterous manipulation planning problem, which deals with motion planning for a multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach able to compute object and finger trajectories, as well as the finger relocation sequence, in order to link any two given configurations of the composite system hand + object. It relies on a topological property that characterizes the existence of solutions in the subspace of configurations where the object is grasped by the n fingers. This property helps reduce the problem by structuring the search space. The developed planner captures in a probabilistic roadmap the connectivity of submanifolds of the composite configuration space. The answer to the manipulation planning query is then given by searching a path in the computed graph. Simulation experiments are reported for different multi-fingered manipulation task examples showing the efficiency of the proposed method.
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https://hal.archives-ouvertes.fr/hal-00736011
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Submitted on : Thursday, September 27, 2012 - 3:02:24 PM
Last modification on : Monday, March 21, 2022 - 2:14:04 PM
Long-term archiving on: : Friday, December 16, 2016 - 5:32:38 PM

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  • HAL Id : hal-00736011, version 1

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Jean-Philippe Saut, Anis Sahbani, Véronique Perdereau. A Generic Motion Planner for Robot Multi-fingered Manipulation. Advanced Robotics, Taylor & Francis, 2011, 25 (1-2), pp.23--46. ⟨hal-00736011⟩

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