Abstract
When a multifingered robotic hand is used for manipulation of a large object under the wor kspace limitation of fingers or grasping forces, change of grasp and relocation of some fingers must be performed. This is the problem of finger gait planning and it requires the process of selecting a sequence of disengaging fingers and relocating the lifted finger to a new contact point. In this paper, we propose a finger gait algorithm for four finger robotic hands which make frictional contacts with a rigid object by considering the supporting region and stability margin. The basic idea of the proposed method is an extension of walking gait planning using supporting polygons. We use a linear programming method to compute the supporting region for a set of three-finger grasping poses. We provide simulation results to show the effectiveness of the proposed method.
