IN-HAND MANIPULATION: GEOMETRY AND ALGORITHMS.

A. Sudsang and J. Ponce

IEEE/RSJ International Conf. on Intelligent Robots and Systems, 1997.


Abstract

This paper addresses the problem of manipulating three-dimensional objects with a reconfigurable gripper. A detailed analysis of the problem geometry in configuration space is used to devise a simple and efficient algorithm for manipulation planning. The proposed approach has been implemented and preliminary simulation experiments are discussed.