Dexterous Manipulation Graphs
Silvia Cruciani, Christian Smith, Danica Kragic, Kaiyu Hang

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.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobot Manipulation and Learning · Robotic Mechanisms and Dynamics · Modular Robots and Swarm Intelligence
