We describe a global motion planner for manipulating 3D objects by a dextrous robotic hand. We focus on the so-called re-configuration problem: find a feasible trajectory (motions and contact forces) that moves a hand-object system from an initial grasp to a final desired configuration of the object. The planner is designed as a three-level process combining a graph search on the configuration space of the object and a local planner that solves for feasible instantaneous quasi-static motions of the entire manipulation system. The planner is applied in simulation for achieving several complex re-configuration tasks for (piecewise-) smooth convex objects demonstrating the promise of our approach.
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