The Multi-fingered Kinematic Model for Dual-arm Manipulation

A planar kinematic model in the hand-object coordinates system for bimanual manipulation is presented. It can compute and determine the fingers configurations. In our experiment, the desired positions, as the model inputs are successfully generated valid joints values for bimanual manipulation. Abstract This paper presents the planar finger kinematic model for dual-arm robot to determine manipulation strategies. The first step is to model based on planar geometric features of the coordinated and rolling motion so that the robot can select the fingers configurations. For the hand-object model, we consider the distances between object and hands as the constraints. The second step is to seek the appropriate values of finger joints based on their positions samples which are randomly generated. Here the robot selects these positions according to the displacements of each joint and the k means clustering. The simulation shows that the selected solutions for the manipulation are all in the finger work space.