Generation Method of Regrasping Motion using Primitive Motions

Generation Method of Regrasping Motion using Primitive Motions

Manipulation of solid rectangular object with regrasping using four-fingered robot hand with interlock mechanism.
An algorithm to manipulate an object by selecting some primitive motions which are previously desinged enables a fingered hand to generate skillful manipulation efficiently.

Fig.1 Multi-fingered robot hand

Fig.2 Primitive motions


Fig.3 Simulation result


Fig.4 Experimental result