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This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3Dquasistatic and quasidynamic rigid body motion planning in dexterousmanipulation. The CMGMP algorithm generates hybrid motion plans including bothcontinuous state transitions and discrete contact mode switches, without theneed for pre-specified contact sequences or pre-designed motion primitives. Thekey idea is to use automatically enumerated contact modes of environment-objectcontacts to guide the tree expansions during the search. Contact modesautomatically synthesize manipulation primitives, while the sampling-basedplanning framework sequences those primitives into a coherent plan. We test ouralgorithm on fourteen 3D manipulation tasks, and validate our models byexecuting some plans open-loop on a real robot-manipulator system

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D