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Planning of Regrasping Operations for a Dextrous Hand in Assembly Tasks

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Abstract

Dextrous hands are a powerful and flexible tool for the execution of assembly tasks due to their mechanical flexibility, small size, low inertia and extended workspace. Since the accessible workspace is limited, regrasping operations give more flexibility to such systems. In order to achieve this flexibility, a new concept for the planning of regrasp operations in handling parts is presented in this work, it operates on three abstraction levels.

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Rapela, D.R., Rembold, U. & Kuchen, B. Planning of Regrasping Operations for a Dextrous Hand in Assembly Tasks. Journal of Intelligent and Robotic Systems 33, 231–266 (2002). https://doi.org/10.1023/A:1015045432508

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  • DOI: https://doi.org/10.1023/A:1015045432508

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