Regrasps by a multifingered hand based on primitives

This paper studies regrasping by a multifingered hand to achieve a desired reorientation of an object by using regrasp primitives. Among them is pivoting in which two fingers grasp an object with their fingertips forming an axis of rotation and the third finger rotates the object about this axis. This paper presents an algorithm for calculating the region for the axis for which the third finger can rotate the object at given angles. Pivoting is also efficient to achieve three dimensional reorientation of an object when it is used together with other primitives. This paper also discusses how sequential executions of primitives achieve three dimensional reorientation