Dexterous manipulation planning and execution of an enveloped slippery workpiece
Additional Document Info
Robotic hands or arms that are capable of enveloping the workpieces that they manipulate hold several advantages over mechanism that cannot. One important advantage is that envelopment of the workpiece ensures grasp maintenance even if the object experiences significant external forces in directions unknown prior to grasp synthesis. This makes enveloping mechanism useful in low-friction and microgravity environments. In this paper we define first-order stability cells which were used to plan a planar, 'whole-arm,' manipulation task of a slippery workpiece. For most, but not all, of the plan, the workpiece was enveloped. Experimental results are presented.