Global planning for dexterous reorientation of rigid objects: Finger tracking with rolling and sliding

International Journal of Robotics Research

Volumn 20, Issue 1, 2001, Pages 57-84

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

^a INRIA RHÔNE ALPES   (France)

^b SIMON FRASER UNIVERSITY   (Canada)

^c R and D Div of Iroc Technologies   (France)

Author keywords

[No Author keywords available]

Indexed keywords

END EFFECTORS; FRICTION; GRIPPERS; KINEMATICS; MOTION PLANNING;

DEXTEROUS MANIPULATION; FINGERTIP GRASP;

MANIPULATORS;

EID: 0035126327     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783640122067273     Document Type: Article

References (39)

1. Bicchi, A. 1995. On the closure properties of robotic grasping. IJRR 14(4):319-334.
2. Brock, D. L. 1988. Enhancing the dexterity of a robot hand using controlled slip. IEEE ICRA, Philadelphia, PA, pp. 249-254.
3. Cherif, M., and Gupta, K. K. 1997a. Planning quasi-static motions for re-configuring objects with a multifingered robotic hand. IEEE ICRA, Albuquerque, NM, April, pp. 986-991.
4. Cherif, M., and Gupta, K. K. 1997b. Practical motion planning for dextrous reorientation of polyhedra. IEEE/RSJ IROS, Grenoble, France, September, pp. 291-297.
5. Cherif, M., and Gupta, K. K. 1998. Planning for in-hand dextrous manipulation. In Robotics, the Algorithmic Perspective, ed. P. Agarwal, L. Kavraki, and M. Mason, 103-118. Wellesley, MA: A. K. Peters.
6. Cherif, M., and Gupta, K. K. 1999a. A global planner for inhand dexterous re-configuration of rigid objects. Int. Journal of Advanced Robotics 13(4):451-471.
7. Cherif, M., and Gupta, K. K. 1999b. Planning quasi-static fingertip manipulations for re-configuring objects. IEEE Trans, on Robotics & Automation 15(5):837-848.
8. Chong, N. Y., Choi, D., and Suh, I. H. 1993. A generalized motion/force planning strategy for multifingered hands using both rolling and sliding contacts. IEEE/RSJ IROS, Yokohama, Japan, April, pp. 113-120.
9. Cole, A. B., Hauser, J. E., and Sastry, S. S. 1989. Kinematics and control of multifingered hands with rolling contact. IEEE Trans, on Automatic Control 34(4):398-404.
10. Cole, A. B., Hsu, P., and Sastry, S. S. 1992. Dynamic control of sliding by robot hands for regrasping. IEEE Trans. on Automatic Control 8(1):42-52.
11. Fearing, R. S. 1984. Simplified grasping and manipulation with dexterous robot hands. Technical Report, A.I. Memo 809, A.I. Lab. MIT, MA.
12. Fearing, R. S. 1986. Implementing a force strategy for object reorientation. IEEE ICRA, San Francisco, pp. 96-101.
13. Gupta, K. K. 1995. Motion planning for reorientation using finger tracking: Landmarks in so(3) × ω. IEEE ICRA, Nagoya, Japan, pp. 446-451.
14. Kaneko, M., and Harada, K. 1999. Grasp and manipulation of multiple objects. In Preprints of 9th Int. Symposium on Robotics Research, Salt Lake City, UT.
15. Leveroni, S., and Salisbury, K. 1995. Re-orienting objects with a robot hand using grasp gaits. In The 7th Int. Symposium on Robotics Research, ed. G. Giralt and G. Hirzinger, 2-15. Munich, Germany: Springer-Verlag.
16. Li, Z., and Canny, J. 1990. Motion of two rigid bodies with rolling constraint. IEEE Trans, on Robotics & Automation 6(1):62-72.
17. Li, Z., Canny, J., and Sastry, S. S. 1989. On motion planning for dextrous manipulation, part I: The problem formulation. IEEE ICRA, Scottsdale, AZ, pp. 775-780.
18. Li, Z., Hsu, P., and Sastry, S. S. 1989. Grasping and coordinated manipulation by a multifingered robot hand. IJRR 8(4):33-50.
19. Markenscoff, X., Ni, L., and Papadimitriou, C. H. 1989. The geometry of grasping. IJRR 9(1):61-74.
20. Mishra, B., Schwartz, J. T., and Sharir, M. 1987. On the existence and synthesis of multi-finger positive grips. Algorithmica 2(4):541-558.
21. Montana, D. J. 1988. The kinematics of contact and grasp. IJRR 7(3): 17-31.
22. Murray, R. M., Li, Z., and Sastry, S. S. 1994. A Mathematical Introduction to Robotics Manipulation. Boca Raton, FL: CRC.
23. Nguyen, V. 1988. Constructing force closure grasps. IJRR 7(3):3-16.
24. Omata, T., and Farooqi, M. A. 1996. Regrasps by a multifingered hand based on primitives. IEEE ICRA, Minneapolis, MN, April, pp. 2774-2780.
25. Omata, T., and Nagata, N. 1994. Planning reorientation of an object with a multifingered hand. IEEE ICRA, San Diego, CA, May, pp. 3104-3110.
26. Peshkin, M. A., and Sanderson, A. C. 1989. Minimization of energy in quasi-static manipulation. IEEE Trans. on Robotics & Automation 5(1):53-60.
27. Rus, D. 1992. Fine Manipulation Planning for Dextrous Manipulation. Ph.D. thesis, Department of Computer Science, Cornell University, Ithaca, NY.
28. Rus, D. 1999. In-hand dexterous manipulation of piecewisesmooth 3-D objects. IJRR 18(4):355-381.
29. Salisbury, K. 1982. Kinematics and Force Analysis of Articulated hands. Ph.D. thesis, CS Department, Stanford University, Stanford, CA.
30. Schwarz, H. R. 1989. Numerical Analysis, A Comprehensive Introduction. New York: John Wiley.
31. Shimoga, K. B. 1996. Robot grasp synthesis algorithms: A survey. IJRR 15(3):230-266.
32. Sudsang, A., Ponce, J., and Srinivasa, N. 2000. Grasping and in-hand manipulation: Geometry and algorithms. Algorithmica 26(3-4):466-493.
33. Trinkle, J. C. 1989. A quasi-static analysis of dexterous manipulation with sliding and rolling contacts. IEEE ICRA, Scottsdale, AZ, pp. 788-793.
34. Trinkle, J. C., Farahat, A. O., and Stiller, P. F. 1995. First-order stability cells of active multi-rigid-body systems. IEEE Trans, on Robotics & Automation 11(4):545-557.
35. Trinkle, J. C., and Hunter, J. J. 1991. A framework for planning dexterous manipulation. IEEE ICRA, Sacramento, CA, May, pp. 1245-1251.
36. Trinkle, J. C., and Paul, R. 1990. Planning dextrous manipulation with sliding contacts. IJRR 9(3): 24-48.
37. Trinkle, J. C., Yeap, S. L., and Han, L. 1996. When quasistatic jamming is impossible. IEEE ICRA, Minneapolis, MN, April, pp. 3401-3406.
38. Trinkle, J. C., and Zeng, D. C. 1995. Prediction of the quasistatic planar motion of a contacted rigid object. IEEE Trans, on Robotics & Automation 11(2):229-246.
39. Tyrtyshnikov, E. E. 1997. A Brief Introduction to Numerical Analysis. Boston: Birkhäuser.