Reorienting Objects with a Robot Hand Using Grasp Gaits

  • Susanna Leveroni
  • Kenneth Salisbury


This paper addresses the planning of robot finger motions to enable continuous and stable reorientation of grasped objects. With a given grasp on an object, the range of reorientation through which the fingers may move the object is limited by the workspace of the fingers and grasp stability. If however the object can be properly regrasped without dropping it, further motion of the object in the desired direction may be possible. If we use a hand with more than the minimum number of fingers required for a stable grasp, then it is possible to remove one (or more) of the fingers from the grasp without dropping it. This finger (or these fingers) may be then be replaced on the surface to form a new grasp with which a further increment of reorientation may be achieved. We call the resulting sequences of finger/object motions and regrasps grasp gaits. To develop an approach to planning such gaits we have addressed the problem of reorienting objects which are constrained to lie in the plane. Since a stable grasp in this environment can be achieved with only two fingers, a hand with three fingers may be able to execute a series of regrasps and object motions such that continuous reorientation is possible. Our results show that for certain types of objects, simple stereotypic gaits may be found which achieve this goal. For more restrictive cases, such as low friction at the contacts or oddly shaped objects, we have developed methods which enable us to find more complex gait patterns if they exist.


Reference Frame Stable Region Robot Hand Convex Object Object Rotation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London Limited 1996

Authors and Affiliations

  • Susanna Leveroni
    • 1
  • Kenneth Salisbury
    • 1
  1. 1.AI Laboratory and Dept. of Mechanical EngineeringMITCambridgeUSA

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