Optimal preshaping using vorticity based manipulability and stability criteria

The authors´ work focuses on developing methods of determining the optimal preshape of a robot hand for a particular stability and manipulability degree based on kinematic considerations. To this end, for a given task, the authors define stability and manipulability criteria for a robot hand based vortex theory. The effects of these criteria and manipulation to the hand preshape are examined by generating optimal fingertip landing paths on an object. This object is a perceived 2D contour in the robot workspace and the optimal landing trajectories are determined according to required manipulability and stability at the preshaping phase to be imparted to the object at contact. An illustrative example of optimal preshaping is provided at the end of the paper and the effects of the vortex based stability and manipulability are discussed in the results