Real-Time Robust Finger Gaits Planning under Object Shape and Dynamics Uncertainties

Understand

Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture.

• To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping gestures, i.e.
• the finger gaits, to address the workspace limits and guarantee the object stability.
• However, realizing finger gaits planning in dexterous manipulation is challenging due to the complicated grasp quality metrics, uncertainties on object shapes and dynamics (mass and moment of inertia), and unexpected slippage under uncertain contact dynamics.