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

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 seco...

• Type: Journal
• Year: 2002
• Where: IJRR
• Authors: István Harmati, Béla Lantos, Shahram Payandeh
• Keywords: Finger Relocation, IJRR 2002, Object Manipulation, Planning