Fitted Stratified Manipulation with Decomposed Path Planning on Submanifolds

I. Harmati, B. Lantos, and S. Payandeh


  1. [1] A. Bicchi & V. Kumar, Robotic grasping and contact: A review,Proc. Conf. on Robotics and Automation, San Francisco, 2000,348–353. doi:10.1109/ROBOT.2000.844081
  2. [2] D. Rus, In-hand dexterous manipulation of piecewise-smooth3-d objects, International Journal of Robotics Research, 18(4),1999, 355–381. doi:10.1177/02783649922066268
  3. [3] M. Cherif & K.K. Gupta, Global planning for dexterousreorientation of rigid objects: Finger tracking with rollingand sliding, International Journal of Robotics Research, 20(1),2001, 57–84. doi:10.1177/02783640122067273
  4. [4] J.W. Hong, G. Lafferriere, B. Mishra, & X.L. Tang, Finemanipulation with multifinger hand, Proc. Conf. on Roboticsand Automation, Cincinatti, 1990, 1568–1573. doi:10.1109/ROBOT.1990.126232
  5. [5] T. Omata & M.A. Farooqi, Regrasps by a multifingered handbased on primitives, Proc. IEEE Int. Conf. on Robotics andAutomation (ICRA), Minneapolis, 1996, 2774–2780. doi:10.1109/ROBOT.1996.506582
  6. [6] S. Leveroni & K. Salisbury, Re-orienting object with a robothand using grasp gaits, Int. Symp. on Robotics Research,Munich, 1995, 2–15.
  7. [7] T. Yoshikawa, Control algorithm for grasping and manipulation by multifingered robot hands using virtual truss modelrepresantation of internal force, Proc. Conf. on Robotics andAutomation, San Francisco, 2000, 369–376. doi:10.1109/ROBOT.2000.844084
  8. [8] M. Zefran, J.P. Desai, & V. Kumar, Continuous motion plansfor robotic systems with changing dynamic behavior, Workshopon Algorithmic Foundations of Robotics (WAFR), Toulouse,1996, 113–127.
  9. [9] L. Han & J.C. Trinkle, Dextrous manipulation by rolling andfinger gaiting, Proc. Conf. on Robotics and Automation, 1998,730–735. doi:10.1109/ROBOT.1998.677060
  10. [10] B. Goodwine, Control of stratified systems with robotic applications, doctoral diss., California Institute of Technology,Pasadena, 1998.
  11. [11] B. Goodwine & J.W. Burdick, Stratified motion planning withapplication to robotic finger gaiting, IFAC World Congress,Beijing, 1999, Vol. A., 201–206.
  12. [12] I. Harmati, B. Lantos, & S. Payandeh, On fitted stratified andsemi-stratified geometric manipulation planning with fingertipsrelocations, International Journal of Robotics Research, 21(5–6), 2002, 489–510. doi:10.1177/027836402761393360
  13. [13] I. Harmati, B. Lantos, & S. Payandeh, On object manipulationmethods using finger relocation, Proc. 10th IEEE Int. Conf.on Advanced Robotics (ICAR’01), Budapest, 2001, 613–618.
  14. [14] J.K. Salisbury & M.T. Mason, Robot hands and the mechanicsof manipulation (Cambridge, MA: MIT Press, 1985).
  15. [15] G. Vass, S. Payandeh, & B. Lantos, Application of simulatedannealing for object manipulation with multiple agents, Proc.2nd IASTED Int. Conf., Control and Applications, Banff,1999, 566–571.
  16. [16] G. Lafferriere & H.J. Sussmann, Motion planning for controllable systems without drift, Proc. IEEE Int. Conf. on Roboticsand Automation, Sacramento, 1991, 1148–1153. doi:10.1109/ROBOT.1991.131763
  17. [17] I. Harmati, B. Lantos, & S. Payandeh, Motion planningalong decomposed trajectory for holonomic stratified systems,Proc. 6th IEEE Int. Conf. on Intelligent Engineering Systems(INES), Opatija, 2002, 81–86.
  18. [18] I. Harmati, B. Lantos, & S. Payandeh, Completely involutiverepresentations for holonomic stratified motion planning, Proc.6th IEEE Int. Conf. on Intelligent Engineering Systems (INES),Opatija, 2002, 35–40.
  19. [19] I. Harmati, B. Lantos, & S. Payandeh, Holonomic and non-holonomic stratified motion planning along decomposed trajectory for walking robots, in P. Bideud & F. Ben Amar (eds.),Proc. 5th Int. Conf. on Climbing and Walking Robots and theSupport Technologies for Mobile Machines—CLAWAR 2002,Paris, 2002, 579–586.

Important Links:

Go Back