This paper presents a planner which explores an unknown polyhedral object with a multifingered hand in a systematic way by constructing the manipulation-model of the object. The manipulation-model of an object we proposed previously is a database which consists of landmark orientations of the object, the applicability of manipulation primitives to them and intertransformations among them. In this paper, two regrasping primitives,rotationandpivoting, are employed. A multifingered hand probes a given unknown object for pivot/rotation axes. If a new axis is found, the planner recursively performspivotingorrotation-test(which is similar torotationbut does not actually rotate the object) about the found axis and searches the object for more axes. The manipulation-model of the object is constructed based on the found axes. An experiment for constructing a manipulation-model of a non-convex polyhedral object is conducted using a fourfingered hand. Force/torque sensors mounted on the fingertips collect the data of the object. A geometrical model of the object is also constructed.
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