Independent contact region (ICR) based in-hand motion planning algorithm with guaranteed grasp quality margin

In this paper, we propose an in-hand motion planning algorithm using independent contact regions(ICRs) and object wrench space(OWS). The original ICR intended to provide grasp robustness under positioning errors of finger-tips, while we apply the ICR to determine the stable boundaries of multiple contact points during the in-hand object manipulation. We consider two planning phases; one is the in-hand motion planning with all fingers simultaneously rolling over the object surface, and the other is the planning associated with switching fingers between contact and non-contact phases. The in-hand motions is so planned as to maintain a given grasp quality margin. The effectiveness of the proposed algorithm is verified through a 2D grasp simulation.