Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation
Rana Soltani Zarrin,Rianna Jitosho,Katsu Yamane,Rana Soltani Zarrin,Rianna Jitosho,Katsu Yamane
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifin-gered robotic hands. While the framework can be applied to the general dexterous manipulation, we focus on a more complex definition of in-hand manipulation, where at the goal pose the hand has to reach a grasp suitable for using the ...
