Page 191 - Human Inspired Dexterity in Robotic Manipulation

190 Human Inspired Dexterity in Robotic Manipulation

(A)

(B)
Fig. 10.2 Transfer and transit paths. (A) Transit path. (B) Transfer path.

two configurations corresponding to the grasp g r1 and g r2 and the object
placement p 1 and p 2 , noted (g ri , p i ) i¼1, 2 . To connect (g r1 , p 1 )to(g r2 , p 2 ),
we can define two intermediate nodes as (g r1 , p 2 ) and (g r2 , p 1 ). As shown
in Fig. 10.3, now we can define three kinds of paths to connect (g r1 , p 1 )
to (g r2 , p 2 ):
• Type1: A direct path from (g r1 , p 1 )to (g r2 , p 2 ) lying inside CG r \CP.
• Type2a: A transfer path from (g r1 , p 1 )to(g r1 , p 2 ) followed by a transit path
from (g r1 , p 2 )to(g r2 , p 2 ).

(g , p )
1 1

(g , p )
1 2
(g , p )
2 1
(g , p )
2 2
Fig. 10.3 Three types of node connection.