Dynamic whole-arm dexterous manipulation in the plane

Abstract

A dynamic model of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact forces between the object and manipulator are calculated to determine whether contacts can be maintained for the planned motion. Compressive contact forces indicate that contacts can be maintained for the specified manipulation plan and this implies that actual dynamic manipulation succeeds. Results of the solution of dynamic equations are given for selected objects and video images of successful plans are shown.