Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation

In this paper, a kinematic model for motion coordination of a redundant multi-fingered robotic hand is derived, which allows to compute the object pose from the joint variables of each finger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian matrix, is developed. This algorithm can be used for kinematic control as well as a local planning method for dexterous manipulation. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.