Abstract
This paper presents the motion planning for enveloping grasp with switching contact modes. We should consider that the dynamics and kinematics change according to the contact modes. We systematize the properties of the manipulation system with switching contact modes based on its dynamics and kinematics, and discuss the mathematical conditions to be satisfied for its motion planning. The conditions give the restriction of the feasible contact mode and the number of contact points. Noticing that this manipulation system belongs to a class of a hybrid system, we propose a layered motion planning algorithm. We finally show the example of the motion planning for enveloping grasp.
