Dexterous Manipulation Graphs

March 01, 2018 · Declared Dead · 🏛 IEEE/RJS International Conference on Intelligent RObots and Systems

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Authors Silvia Cruciani, Christian Smith, Danica Kragic, Kaiyu Hang arXiv ID 1803.00346 Category cs.RO: Robotics Citations 38 Venue IEEE/RJS International Conference on Intelligent RObots and Systems Last Checked 2 months ago
Abstract
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.
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