Dexterous Manipulation Graphs
This addresses the challenge of precise in-hand manipulation for robotics, though it appears incremental as it builds on existing planning and primitive-based methods.
The paper tackles the problem of in-hand object manipulation by introducing the Dexterous Manipulation Graph to plan sequences of manipulation primitives for repositioning objects within a robot's end-effector, demonstrating successful planning and execution on a real dual-arm robot with parallel grippers.
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.