Inverse Kinematics Algorithm for Dexterous Manipulation

A well-known inverse kinematics algorithm for robot manipulators has been re-adapted to perform as a planner and a kinematic controller for dual-arm/hand dexterous manipulation tasks. This method allows assigning the object motion directly and retrieves the movement of the single fingers implicitly. Moreover, in the proposed framework, it is possible to exploit the redundancy of the whole system in contact with the object to ensure dexterity and perform stable grasps. Such a method is employed as a planner when a suitable parallel/force control is employed. A theoretical proof shows how such a parallel controller can handle non-planar surfaces too.

Proposed solutions:

• F. Caccavale, V. Lippiello, G. Muscio, F. Pierri, F. RUGGIERO, L. Villani, Grasp planning and parallel control of a redundant dual-arm/hand manipulation system, in Robotica, vol. 31, n. 7, pp. 1169-1625, 2013, DOI: 10.1017/S0263574713000647.
• V. Lippiello, F. RUGGIERO, L. Villani, Inverse kinematics for object manipulation with redundant multi-fingered robotic hands, in Robot Motion and Control 2009, in Lecture Notes in Control and Information Sciences, Krzysztof Kozlowski (Ed.), pp. 255-264, Springer, Heidelberg, D, 2009, DOI: 10.1007/978-1-84882-985-5_23.
• F. Caccavale, G. Muscio, V. Lippiello, F. Pierri, F. RUGGIERO, L. Villani, Kinematic control with force feedback for a redundant bimanual manipulation system, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 4194-4200, 2011, DOI: 10.1109/IROS.2011.6094865.
• M. Lei, M. Selvaggio, T. Wang, F. RUGGIERO, C. Zhou, C. Yao, Y. Zheng, Dual-arm object transportation via model predictive control and external disturbance estimation, 2022 IEEE International Conference on Automation Science and Engineering, Mexico City, Mexico, pp. 2328-2334, 2022, DOI: 10.1109/CASE49997.2022.9926627.