Page 197 - Human Inspired Dexterity in Robotic Manipulation

196 Human Inspired Dexterity in Robotic Manipulation

(A) (B)

(C) (D)

(E) (F)
Fig. 10.7 Motion of the robot manipulating the object with regrasping/placing.

for the robot to grasp and to place the object by using the right hand, we first
connected the component of CG r \CP at the intermediate placement with
the component of CG r \CG l \CP at the same placement and connected
the component of CG l \CP at the intermediate placement with the com-
ponent of CG r \CG l \CP at the same placement. Then, the robot first
grasps the object by using the right hand and places it on the middle of
the table. Then, the robot regrasps the object by using the left hand and
places it at the desired placement. The solution path in the manipulation
graph is shown in Fig. 10.8C.