Enhancing in-hand dexterous micro-manipulation for real-time applications

摘要

This paper presents a new approach of planar trajectory generation for automated in-hand dexterous manipulation of miniaturized objects. The proposed method aims at improving the efficiency of the previous method [17] to be able to perform real-time in-hand manipulation trajectories generation. The main idea behind this new method is the representation of the configuration space as a set of stable rotations instead of stable grasps as it is usually done. The consequence of this representation is a more compact space that encapsulates more information. The developed algorithm that uses this approach is able to generate optimal trajectories to manipulate complex objects in less than 0.1 s, which represents a reduction in the processing time between 10~2 and 10 compared to the previous method.