Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation

@article{Sundaralingam2019RelaxedrigidityCK,
  title={Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation},
  author={Balakumar Sundaralingam and Tucker Hermans},
  journal={Autonomous Robots},
  year={2019},
  volume={43},
  pages={469-483}
}
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp manipulation uses kinematic trajectory optimization which requires no knowledge of dynamic properties of the object. We implement our approach on an Allegro robot hand and perform thorough experiments on ten objects from the YCB dataset. The proposed method is… Expand
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