On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations  

Oleh:

Payandeh, Shahram ; Lantos, Béla ; Harmati, István

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 5-6 (May 2002), page 489-510.
Topik: stratified motion planning; dexterous manipulation; fingertip relocations; differential geometry
Fulltext: 489.pdf (473.44KB)

Isi artikel

This paper presents two object manipulation planning methods based on fitted stratified and semi-stratified approaches using finger relocations. The problem is discussed in the framework of a motion planning problem. The goal of the methods is to steer an object from an initial configuration to a final configuration while it is possible to reposition the fingertips on the surface in a predefined way. We assume there is no rolling and sliding but finger relocations are allowed. The first technique follows a pure stratified approach, however unlike the previously published method, the exact kinematic model of the manipulation system is matched with a virtual model masking the behavior of the original system. This provides a simpler model than the earlier stratified method by reducing the generally hard symbolic computation problem to a simple (almost pure numerical) one. The paper also introduces a semi-stratified manipulation planning based on the newly defined fitted system. This second method enhances the stratified motion planning with a definition of systematic finger relocation sequence. The proposed decomposition is based on the selection of suitable reference contact points. As the main benefit, the method enables a greater freedom in defining the desired fingertip trajectories. The methods are illustrated through an example of object reorientation.

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