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Dexterous Manipulation Planning for an Anthropomorphic Hand

  • Jean-Philippe Saut
  • Anis Sahbani
  • Jean-Pierre Gazeau
  • S. Zeghloul
  • Philippe Bidaud
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

In this paper, we present some results about dexterous manipulation planning with an anthropomorphic hand. The task is to drive the grasped object from a start to a goal configuration. The planning algorithm automatically computes the finger motion and the required regrasping motion i.e. when and how to relocate the contacts on the object’s surface. The planner relies on a previously presented method but some extensions were added in order to make it applicable to the hand used in the experiments (a four-fingered hand with a human-inspired kinematics). Some experiments, conducted on the real platform, are presented.

Keywords

Kinematic Chain Manipulation Task Hybrid Automaton Contact Position Transfer Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Jean-Philippe Saut
    • 1
  • Anis Sahbani
    • 1
  • Jean-Pierre Gazeau
    • 2
  • S. Zeghloul
    • 2
  • Philippe Bidaud
    • 1
  1. 1.CNRS UMR 7222UPMC Univ Paris 06ParisFrance
  2. 2.Institut Pprime - UPR 3346 CNRSUniversité de Poitiers - ENSMAPoitiersFrance

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