Object manipulation coordinating multiple primitive motions

摘要

This paper proposes an algorithm to coordinate multiple primitive motions in order to manipulate an object effectively. This algorithm enables a fingered hand to manipulate an object in real-time, because a searching space is reduced by using previously designed primitive motions. Besides this approach can embed dexterous motions in manipulation work as a primitive motion so that a hand system could manipulate an object effectively. In this paper, we experimentally show that four-fingered hand can effectively rotate a rectangular object by using the primitive motions and compare its performance with that of the evolutionary programming-based algorithm.