Page 190 - Human Inspired Dexterity in Robotic Manipulation

Planning Dexterous Dual-Arm Manipulation 189

Fig. 10.1 The manipulation space gathers the three configuration spaces of the object,
the left arm and the right arm, respectively.

of the palm with respect to the object coordinate system and the finger joint
angles. We define the ith candidate of the right-hand grasp g ri and the left-
hand grasp g li in CG r and CG l , respectively.

10.2.3 Object Placement Planner
Stable object placements are computed by using the object placement plan-
ner [5]. The object placement planner generates multiple object postures sta-
bly placed on the environment surface. We denote by p j the jth object
placement in CP. A combination of the right-hand grasp g ri and the place-
ment p j defines a configuration in CG r \CP.

10.2.4 Manipulation Paths
A solution path of the manipulation planning problem consists of the follow-
ing two kinds of paths [2](Fig. 10.2):
• Transit path where the robot moves alone while the object stays stationary
in a stable position. Transit paths induce a foliation of CP.
• Transfer path where the robot moves while stably grasping the object.
Transfer paths induce a foliation of CG r or CG l .
The manipulation planning problem is to find a sequence of the transfer and
the transit paths connecting the starting configuration q i and the goal con-
figuration q f in CP [CG r [CG l .
We now focus on CG r \CP. Two foliation structures are induced,
respectively, by the transfer paths and by the transit paths. Let us consider