Planning quasi-static fingertip manipulations for reconfiguring objects

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 5, 1999, Pages 837-848

  Cherif, Moëz ^a,b   Gupta, Kamal K ^a,c  

^a IEEE

^b INRIA RHÔNE ALPES   (France)

^c SIMON FRASER UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; GRAPH THEORY; MANIPULATORS; MOTION PLANNING; PROBLEM SOLVING;

DEXTEROUS MANIPULATIONS; QUASISTATIC FINGERTIP MANIPULATIONS;

END EFFECTORS;

EID: 0033311731     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.795789     Document Type: Article

References (44)

1. A. Bicchi, "On the closure properties of robotic grasping," Int. J. Robot. Res., vol. 14, no. 4, pp. 319-334, 1995.
2. A. Bicchi and R. Sorrentino, "Dexterous manipulation through rolling," in Proc. IEEE ICRA, Nagoya, Japan, May 1995, pp. 452-457.
3. D. L. Brock, "Enhancing the dexterity of a robot hand using controlled slip," in Proc. IEEE ICRA, 1988, pp. 249-254.
4. M. Buss and K. P. Kleinmann, "Multi-fingered regrasping using on-line grasping force optimization," in Proc. IEEE ICRA, Albuquerque, NM, Apr. 1997, pp. 998-1003.
5. M. Cherif, "Motion planning for all-terrain vehicles: A physical modeling approach for coping with dynamic and contact interaction constraints," IEEE Trans. Robot. Automat., vol. 15, pp. 202-218, Apr. 1999.
6. M. Cherif and K. K. Gupta, "Practical motion planning for dexterous reorientation of polyhedra," in Proc. IEEE/RSJ IROS, Grenoble, France, Sept. 1997, pp. 291-297.
7. _, "Planning for in-hand dexterous manipulation," in Robotics, the Algorithmic Perspective, L. Kavraki, P. Agarwal, and M. Mason, Eds. Wellesley, MA: A. K. Peters, 1998, pp. 103-118.
8. _, "Re-orientation planning for in-hand dexterous manipulation," Tech. Rep., Sch. Eng. Sci., Simon Fraser Univ., Burnaby, B.C., Canada, 1999.
9. N. Y. Chong et al., "A generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts," in Proc. IEEE/RSJ IROS, 1993, pp. 113-120.
10. A. B. Cole, J. E. Hauser, and S. S. Sastry. "Kinematics and control of multifingered hands with rolling contact," IEEE Trans. Automat. Contr., vol. 34, pp. 398-404, Apr. 1989.
11. A. B. Cole, P. Hsu, and S. S. Sastry, "Dynamic control of sliding by robot hands for regrasping," IEEE Trans. Robot. Automat., vol. 8, pp. 42-52, Feb. 1992.
12. M. R. Cutkosky, "On grasp choice, grasp models, and the design of hands for manufacturing tasks," IEEE Trans. Robot. Automat., vol. 5, pp. 269-279, June 1989.
13. R. S. Fearing, "Simplified grasping and manipulation with dexterous robot hands," Tech. Rep., A.I. Memo 809, Artif. Intell. Lab. Mass. Inst. Technol., Cambridge, 1984.
14. _, "Implementing a force strategy for object re-orientation," in Proc. IEEE ICRA, San Francisco, CA, 1986, pp. 96-101.
15. K. K. Gupta, "Motion planning for re-orientation using finger tracking: Landmarks in so(3) x ω," in Proc. IEEE ICRA, Nagoya, Japan, 1995, pp. 446-451.
16. L. Han, Y. S. Guan, Z. X. Li, Q. Shi, and J. C. Trinkle, "Dexterous manipulation with rolling contacts," in Proc. IEEE ICRA, Albuquerque, NM, Apr. 1997, pp. 992-997.
17. I. Kao and M. R. Cutkosky, "Quasistatic manipulation with compliance and sliding," Int. J. Robot. Res., vol. 11, no. 1, pp. 20-40, 1992.
18. _, "Comparison of theoretical and experimental force/motion trajectories for dexterous manipulation with sliding," Int. J. Robot. Res., vol. 12, no. 6, pp. 529-534, 1993.
19. J. Kerr and B. Roth, "Analysis of multifingered hands," Int. J. Robot. Res., vol. 4, no. 4, pp. 3-17, 1986.
20. J. C. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
21. S. Leveroni and K. Salisbury, "Re-orienting objects with a robot hand using grasp gaits," in The 7th Int. Symposium on Robotics Research, G. Giralt and G. Hirzinger, Eds. Munich Germany: Springer-Verlag, 1995, pp. 2-15.
22. Z. Li and J. Canny, "Motion of two rigid bodies with rolling constraint," IEEE Trans. Robot. Automat., vol. 6, pp. 62-72, Feb. 1990.
23. Z. Li, J. Canny, and S. S. Sastry, "On motion planning for dexterous manipulation - Part I: The problem formulation," in Proc. IEEE ICRA, Scottsdale, AZ, 1989, pp. 775-780.
24. Z. Li, P. Hsu, and S. S. Sastry, "Grasping and coordinated manipulation by a multifingered robot hand," Int. J. Robot. Res., vol. 8, no. 4, pp. 33-50, Aug. 1989.
25. M. T. Mason and J. K. Salisbury, Robot Hands and the Mechanics of Manipulation. Cambridge MA: MIT Press, 1985.
26. D. J. Montana, "The kinematics of contact and grasp," Int. J. Robot. Res., vol. 7, no. 3, pp. 17-31, 1988.
27. _, "The kinematica of contact with compliance," in Proc. IEEE ICRA, Scottsdale, AZ, 1989, pp. 770-774.
28. _, "The kinematics of multi-fingered manipulation," IEEE Trans. Robot. Automat., vol. 11, pp. 491-503, Aug. 1995.
29. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotics Manipulation. Orlando, FL: CRC, 1994.
30. J. Napier, "The prehensile movement of the human hand," J. Bone Joint Surgery, vol. 38B, no. 4, pp. 902-913, Nov. 1956.
31. T. Omata and M. A. Farooqi, "Regrasps by a multifingered hand based on primitives," in Proc. IEEE ICRA, Minneapolis, MN, Apr. 1996, pp. 2774-2780.
32. T. Omata and N. Nagata, "Planning re-orientation of an object with a multifingered hand," in Proc. IEEE ICRA, San Diego, CA, May 1994, pp. 3104-3110.
33. M. A. Peshkin and A. C. Sanderson, "Minimization of energy in quasistatic manipulation," IEEE Trans. Robot. Automat., vol. 5, pp. 53-60, Feb. 1989.
34. D. Rus, "Fine manipulation planning for dexterous manipulation," Ph.D. dissertation, Dept. Comput. Sci., Cornell Univ., Ithaca, NY, 1992.
35. K. Salisbury, "Kinematics and force analysis of articulated hands," Ph.D. dissertation, Comput. Sci. Dept., Stanford Univ., Stanford, CA, 1982.
36. K. B. Shimoga, "Robot grasp synthesis algorithms: A survey," Int. J. Robot. Res., vol. 15, no. 3, pp. 230-266, 1996.
37. J. C. Trinkle, "A quasistatic analysis of dextrerous manipulation with sliding and rolling contacts," in Proc. IEEE ICRA, Scottsdale, AZ, 1989, pp. 788-793.
38. J. C. Trinkle and J. J. Hunter, "A framework for planning dexterous manipulation," in Proc. IEEE ICRA, Sacramento, CA, May 1991, pp. 1245-1251.
39. J. C. Trinkle and R. Paul, "Planning dexterous manipulation with sliding contacts," Int. J. Robot. Res., pp. 24-48, 1990.
40. J. C. Trinkle and D. C. Zeng, "Prediction of the quasistatic planar motion of a contacted rigid object," IEEE Trans. Robot. Automat., vol. 11, pp. 229-246, Apr. 1995.
41. J. C. Trinkle, A. O. Farahat, and P. F. Stiller, "First-order stability cells of active multi-rigid-body systems," IEEE Trans. Robot. Automat., vol. 11. pp. 545-557, Aug. 1995.
42. J. C. Trinkle, S. L. Yeap, and L. Han, "When quasistatic jamming is impossible," in Proc. IEEE ICRA, Minneapolis MN, Apr. 1996, pp. 3401-3406.
43. T. Yoshikawa and X. Zheng, "Coordinated dynamic hybrid position and force control for multiple robot manipulators," Int. J. Robot. Res., vol. 12. no. 3, pp. 219-230, June 1993.
44. M. Zefran, J. P. Desai, and V. Kumar, "Continuous motion plans for robotic systems with changing dynamic behavior," in Algorithmic Foundations of Robotics, J. P. Laumond and M. Overmars, Eds. Wellesley, MA: A. K. Peters, 1996, pp. 113-128.