Motion planning for re-orientation using finger tracking: landmarks in SO(3)×ω

In this paper, we study the following motion planning problem for dexterous manipulation: devise a global plan that a dexterous hand can use to actively manipulate an object from a given initial orientation to a desired final orientation. We propose an approach that uses a local planner to search the orientation state space (S0(3)×Ω) of the object by placing random landmarks in it. The local planner used in our implementation is a trajectory generator on SO(3) along with the finger tracking strategy proposed by Rus (1992). We report initial experiments that indicate the promise of our approach