In-hand dexterous manipulation of piecewise-smooth 3-D objects

International Journal of Robotics Research

Volumn 18, Issue 4, 1999, Pages 355-381

  Rus, Daniela ^a  

^a Dartmouth Department of Computer Science_Dartmouth College   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; END EFFECTORS; MOTION CONTROL; ROBOTICS;

FINGER TRACKING;

MANIPULATORS;

EID: 0033115841     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783649922066268     Document Type: Article

References (53)

1. Auslander, L., and MacKenzie, R. 1977. Introduction to Differentiable Manifolds. New York: Dover.
2. Back, A., Guckenheimer, J., Meyers, M., Vicklin, V., and Worfolk, P. 1992. DSTOOL: Computer-assisted exploration of dynamical systems. Notices of the AMS, pp. 303-309.
3. Back, A., and Rus, D. 1993 (Yokohama). Towards task-directed coordinated manipulation. Proc. of the 1993 Intl. Conf. on Intell. Robots and Sys., Japan.
4. Bicchi, A., and Sorento, R. 1988. Dexterous manipulation through rolling. Proc. of the Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 249-254.
5. Brock, D. 1988. Enhancing the dexterity of a robot hand using controlled slip. Proc. of the Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 249-254.
6. Brost, R. 1988. Automatic grasp planning in the presence of uncertainty. Intl. J. Robot. Res. 7(1):3-17.
7. Canny, J. 1988. The Complexity of Robot Motion Planning. Cambridge, MA: MIT Press.
8. Canny, J., Donald, B., Reif, J., and Xavier, P. 1988 (White Plains, NY). On the complexity of kinodynamic planning. Proc. of the 29th Symp. on the Found. of Comp. Sci.
9. Canny, J., and Reif, J. 1987. New lower-bound techniques for robot motion-planning problems. Proc. of the Found. of Comp. Sci.
10. Chen, I., and Burdick, J. 1992. Finding antipodal point grasps on irregularly shaped objects. Proc. of the Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE.
11. Cherif, M., and Gupta, K. 1997. Practical motion planning for dexterous reorientations of polyhedra. Proc. of the 1997 Intl. Symp. on Intell. Robot Sys., pp. 291-297.
12. Cherif, M., and Gupta, K. 1998. Planning for in-hand dexterous manipulation. Proc. of the 1998 Workshop on Algorithmic Found, of Robot. AK Peters, Natick MA, pp. 103-108.
13. Cutkoski, M. 1985. Grasping and fine manipulation for automated manufacturing. Ph.D. thesis, Carnegie Mellon University.
14. Donald, B. 1989. Error Detection and Recovery in Robotics, vol. 336 of Lecture Notes in Computer Science. New York: Springer-Verlag.
15. Donald, B., Jennings, J., and Rus, D. 1993. Information invariants for cooperating autonomous mobile robots. Proc. of the Intl. Symp. on Robot. Res.
16. Donald, B., Jennings, J., and Rus, D. 1997. Information invariants for cooperating autonomous mobile robots. Intl. J. Robot. Res. 16(5):673-702.
17. Erdmann, M., and Mason, M. 1988. An exploration of sensorless manipulation. IEEE J. Robot. Automat. 4(4):369-379.
18. Fearing, R. 1986a. Implementing a force strategy for object reorientation. Proc. of the Intl. Conf. on Robot. and Automat., pp. 96-107.
19. Fearing, R. 1986b. Simplified grasping and manipulation with dexterous robot hands. IEEE J. Robot. Automat. 2(2):188-195.
20. Gilmore, R. 1974. Lie Groups, Lie Algebras, and Some of Their Applications. New York: John Wiley.
21. Goldberg, K. 1990. Stochastic plans for robot manipulation. Ph.D. thesis, Carnegie Mellon University.
22. Goyal, S. 1989. Planar sliding of a rigid body with dry friction: Limit surfaces and dynamics of motion. Ph.D. thesis, Department of Theoretical and Applied Mechanics, Cornell University.
23. Gupta, K. 1995. Motion planning for reorientation using finger tracking: Landmarks in SO(3) x W. Proc. of the Intl. Conf. on Robot. and Automat. Washington, DC: IEEE, pp. 446-451.
24. Latombe, J. C. 1991. Robot Motion Planning. Boston, MA: Kluwer Academic.
25. Li, Z. 1989. Kinematics, planning and control of dexterous robot hands. Ph.D. thesis, Berkeley University.
26. Li, Z., and Canny, J. 1990. Motion of two rigid bodies with rolling constraint. IEEE Trans. Robot. Automat. 6(1):62-72.
27. Li, Z., Hsu, P., and Sastry, S. 1989. Grasping and coordinated manipulation by a multifinger robot hand. Intl. J. Robot. Res. 8(4):33-50.
28. Lozano-Pérez, T., Mason, M., and Taylor, R. 1984. Automatic synthesis of fine-motion strategies for robots. Intl. J. Robot. Res. 3(1).
29. Markenscoff, X., Ni, L., and Papadimitriou, C. 1990. The geometry of form closure. Intl. J. Robot. Res. 8(2).
30. Mason, M. 1981. Compliance and force control for computer manipulators. IEEE Trans. Sys. Man. Cybernet. 6:418-432.
31. Mason, M. 1986. Manipulator grasping and pushing operations. Intl. J. Robot. Res. 5(3):53-71.
32. Mason, M., and Salisbury, K. 1985. Robot Hands and the Mechanics of Manipulation. Cambridge, MA: MIT Press.
33. Mishra, B., Schwartz, J., and Sharir, M. 1987. On the existence and synthesis of multifinger positive grips. Algorithmica 2.
34. Montana, D. 1988. The kinematics of contact and grasp. Intl. J. Robot. Res. 7(3):17-32.
35. Murray, R., Li, Z., and Sastry, S. 1994. A Mathematical Introduction to Robotics. Boca Raton, FL: CRC Press.
36. Nguyen, V. 1986. The synthesis of stable force-closure grasps. Technical Report MIT AI-TR-905, Massachusetts Institute of Technology Artificial Intelligence Lab.
37. Pertin-Troccaz, J. 1989. Grasping: A state of the art. In Khatib, O., Craig, J., and Lozano-Pérez, T. (eds.) The Robotics Review 1. Cambridge, MA: MIT Press.
38. Peshkin, M., and Sanderson, A. 1988. Planning robotic manipulation strategies for workpieces that slide. Proc. of the Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 524-531.
39. Ponce, J., Burdick, J., and Rimon, E. 1995. Computing the immobilizing three-finger grasps of planar objects. Proc. of the Workshop on Computational Kinematics.
40. Ponce, J., Stam, D., and Faverjon, B. 1993. On computing three-finger force-closure grasps of polygonal objects. Intl. J. Robot. Res. 12(3):263-273.
41. Raibert, M., and Craig, J. 1981. Hybrid position/force control of manipulators. J. Dyn. Sys., Meas., Control 102.
42. Rus, D. 1992a. Dexterous rotations of polyhedra. Proc. of the Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE.
43. Rus, D. 1992b. Fine-motion planning for dexterous manipulation. Ph.D. thesis, Cornell University.
44. Rus, D. 1992c. A framework for dexterous manipulation using Lie algebras. Proc. of AMAST'91, Workshop in Computing Series. New York: Springer-Verlag.
45. Rus, D. 1997. Coordinated manipulation of objects in a plane. Algorithmica 19(1/2):129-147.
46. Rus, D., Donald, B., and Jennings, J. 1995. Moving furniture with teams of autonomous robots. Proc. of the 1995 Intl. Symp. on Robot. Res.
47. Sternberg, S. 1965. Lectures on Differential Geometry. Englewood Cliffs, NJ: Prentice Hall.
48. Sudsang, A., and Ponce, J. 1995. New techniques for computing four-finger force-closure grasps of polyhedral objects. Proc. of the Intl. Conf. on Robot. and Automat. Washington, DC: IEEE.
49. Sudsang, A., and Ponce, J. 1997. In-hand manipulation: Geometry and algorithms. Proc. of the 1997 Intl. Symp. on Intell. Robots and Sys.
50. Trinkle, J. 1992. On the stability and instantaneous velocity of grasped frictionless objects. IEEE Trans. Robot. Automat. 8(5).
51. Trinkle, J., and Paul, R. 1990. Planning for dexterous manipulation with sliding contacts. Intl. J. Robot. Res. 7(3).
52. Wilson, R. 1992. On geometric assembly planning. Ph.D. thesis, Department of Computer Science, Stanford University.
53. Xavier, P. 1992. Provably-good approximation algorithms for optimal kinodynamic robot plans. Ph.D. thesis, Department of Computer Science, Cornell University. (Also available as Technical Report CU-CS-TR 92-1279.)