Abstract
In dextrous robotic manipulation we are often confronted with the problem that the robot fingers need to be repositioned on the object surface, either because a finger reaches its workspace limits or because the manipulation planner decides to do so due to its manipulation strategy. In this paper we propose a trajectory type for the purpose of regrasping, named “Squeezed Screw”. It is smooth and has a relatively simple shape. It is a superposition of a movement on an ellipse with a translation in an arbitrary direction in 3D. It can be generated from only eight input parameters. An algorithm was developed to calculate the path geometry from these parameters. A comparison with a Rapidly-exploring Random Tree algorithm points out the advantages of this novel trajectory type.
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