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This work focuses on the problem of in-hand manipulation and regrasping ofobjects with parallel grippers. We propose Dexterous Manipulation Graph (DMG)as a representation on which we define planning for in-hand manipulation andregrasping. The DMG is a disconnected undirected graph that represents thepossible motions of a finger along the object's surface. We formulate thein-hand manipulation and regrasping problem as a graph search problem from theinitial to the final configuration. The resulting plan is a sequence ofcoordinated in-hand pushing and regrasping movements. We propose a dual-armsystem for the execution of the sequence where both hands are usedinterchangeably. We demonstrate our approach on an ABB Yumi robot tasked withdifferent grasp reconfigurations.

Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs