Stability Map for Graspless Manipulation Planning

摘要

Graspless manipulation is a process in which objects are manipulated by using environment as a support. In this paper, we propose a planning method for graspless manipulation with consideration of stability of manipulated object. Our proposed stability is calculated from fingers position and the optimal contacting force. We make a 'stability map' against object configuration and finger configuration to plan a path in the map from start object configuration to goal configuration. 2-dimensional example is simulated.