{'fraction_non_alphanumeric': 0.01338199513381995, 'fraction_numerical': 0.0, 'mean_word_length': 5.234848484848484, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Practical motion planning for dextrous re-orientation of polyhedra

This paper addresses the motion planning problem for dextrous manipulation by an artificial multifingered hand. We focus on the task of re-orienting polyhedral objects and present a practical motion planner for achieving quasistatic manipulations by a four-fingered hand. The planner makes use of a simple manipulation strategy in which a single finger is moved and the other three are fixed. We describe how this scenario is exploited for reducing the space of trajectory solutions and used within a two-level incremental process to search for global re-orientation motions. The planner has been implemented and used for achieving several complex re-orientation tasks with frictional and frictionless contacts that show the practicality of our approach.