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Planification de Mouvement Pour la Manipulation Dextre d'Objets Rigides

Abstract : This thesis presents a method to plan the motion of dexterous manipulation tasks. Both object and finger paths are planned as well as the contact relocation sequence. The proposed method is built upon probabilistic road-maps methods to explore the hand+object configuration space. It also relies on the extension of a topological property, previously used for pick-and-place manipulation planning, called the reduction property, that allows the use of a particular kind of paths along which both grasp and object pose can change. These paths do not respect the kinematic constraints of the problem but, as long as they are collision-free, they can be decomposed into a feasible sequence of elementary paths, corresponding to the sub-tasks "regrasping" and "object displacement". The computation of complex finger gaiting maneuvers can thus be avoided during the exploration of the configuration space and has to be done only once a solution is found. This significantly reduces the computation time required to plan a task. Simulation results are presented to show the validity of the method.
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Contributor : Jean-Philippe Saut Connect in order to contact the contributor
Submitted on : Saturday, July 7, 2012 - 4:09:49 PM
Last modification on : Monday, July 18, 2022 - 10:52:36 AM
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  • HAL Id : tel-00715477, version 1


Jean-Philippe Saut. Planification de Mouvement Pour la Manipulation Dextre d'Objets Rigides. Robotique [cs.RO]. Université Pierre et Marie Curie - Paris VI, 2007. Français. ⟨tel-00715477⟩



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