English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper explores the problem of autonomous, in-hand regrasping--theproblem of moving from an initial grasp on an object to a desired grasp usingthe dexterity of a robot's fingers. We propose a planner for this problem whichalternates between finger gaiting, and in-grasp manipulation. Finger gaitingenables the robot to move a single finger to a new contact location on theobject, while the remaining fingers stably hold the object. In-graspmanipulation moves the object to a new pose relative to the robot's palm, whilemaintaining the contact locations between the hand and object. Given theobject's geometry (as a mesh), the hand's kinematic structure, and the initialand desired grasps, we plan a sequence of finger gaits and object reposingactions to reach the desired grasp without dropping the object. We propose anoptimization based approach and report in-hand regrasping plans for 5 objectsover 5 in-hand regrasp goals each. The plans generated by our planner arecollision free and guarantee kinematic feasibility.

Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation