Abstract
In this paper, we propose contact-state transition for planning of graspless manipulation. Graspless manipulation is human-like dexterous manipulation method in which robot fingers do not grasp an object and manipulate it with support by environment. In graspless manipulation, the object contacts with environment several ways. Several patterns of contact state between an object and environment are described as nodes of graph and are connected by arcs which describe grapsless manipulation methods. From this graph, we can find the minimum cost path from start state to goal state. For correct a cost and state transition, we introduce parameterized node in the graph.
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