Date of Original Version
Abstract or Description
This paper describes our current research into nonprehensile palm manipulation. The term “palm” refers to the use of the entire device surface during ma- nipulation, as opposed to use of the ﬁngertips alone. The term “nonprehensile” means that the palms hold the object without wrapping themselves around it, as distinguished from a force/form closure grasp often employed by a ﬁngered hand. Indeed, nonprehensile operations such as purposeful sliding and constrained dropping constitute important palm primitives.
We have implemented a system for orienting parts using two palms. The system consists of a planner and an executive. As input, the system expects a geometric description of a part, its center of mass, the coefﬁcients of friction between the part and each of the palms, and a start and goal conﬁguration of the part in stable contact with one of the palms. As output, the system computes and executes a sequence of palm motions designed to reorient the part from the speciﬁed start to the speciﬁed goal conﬁguration.
International Journal of Robotics Research, 17, 5.