Motion Planning for Re-Orientation Using Finger Tracking Landmarks in SO(3)xomega

@inproceedings{Gupta1995MotionPF,
  title={Motion Planning for Re-Orientation Using Finger Tracking Landmarks in SO(3)xomega},
  author={Kamal K. Gupta},
  booktitle={ICRA},
  year={1995}
}
In this paper, we study the following motion planning problem for dexterous manipulation: devise a global plan that a dexterous hand can use to actively manipulate an object from a given initial orientation to a desired final orientation. We propose an approach that uses a local planner to search the orientation state space (SO(3) x Cl) of the object by placing random landmarks in it. The local planner used in our implementation is a trajectory generator on SO(3) along with the finger tracking… CONTINUE READING