Reconstruction Planning of Dexterous Manipulation

Based on several modes of human dexterous manipulation, this paper discusses the contact and manipulation kinematics in the system consisting of a dexterous hand and a grasped object. The manipulation planning is considered as a reconstruction problem of grasping configuration in global and local levels, and the planning algorithm is developed. Simulation on planning a dexterous hand manipulating a smooth object demonstrates that the developed algorithm is effective and valid.