A phase management framework for event-driven dextrous manipulation

Multifingered robotic hands have not yet made significant inroads into practical applications, partly due to the complexity of dextrous manipulation tasks, and also due to control software shortcomings. High level task controllers exist, as do low level grasp controllers, but neither of these fully address the problems of changing kinematic and dynamic constraints that arise during a grasping and manipulation task. This paper develops a framework, utilizing phases, events, and transitions, that bridges the gap between highand low-level control. Results from constraint handling and transition experiments conducted with a two-fingered hand are included