Dexterous Manipulation Graphs

TL;DR

This paper introduces the Dexterous Manipulation Graph, a planning tool for in-hand object repositioning within robotic end-effectors, demonstrated on a dual-arm robot with successful planning and execution.

Contribution

The paper presents a novel graph-based approach for planning in-hand manipulation sequences, enabling robots to reposition objects precisely within their end-effectors.

Findings

Successful in-hand manipulation planning and execution on a real dual-arm robot.

Effective translation of manipulation sequences into robot motions.

Demonstrated capability for object repositioning within robotic end-effectors.

Abstract

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.