Abstract
This paper addresses manipulation planning aspects by switching contact modes for a robotic hand. We show there are contact modes which are feasible by manipulation planning utilizing the redundancy of the robotic hand, as well as contact modes which are feasible by the action of contact forces. In addition, we derive the conditions for a manipulation system which can generate the contact modes. For the sake of the realization of dexterous manipulation by utilizing the various contact modes, we propose a novel algorithm for manipulation planning based on randomized techniques. Optimal contact modes between two sub-goals are determined using a cost function. Simulation examples for 3D manipulation planning show the validity of the proposed algorithm.
