Planning stable in-hand reconfiguration of objects in two dimensions

This thesis presents a method to reconfigure objects in an articulated robotic hand, where reconfiguration is defined as moving an object from one orientation in the hand to another orientation. Several methods using object configuration rely on a stationary work area. These methods assume that the object is stably grasped by the hand, and is moved around the work area in an assembly process. This thesis assumes that the hand is the primary obstacle. The object now reacts to the hand instead of the work area. Reconfiguration of the object within the hand is the goal. Models were developed that portrayed the mechanics and the contacts for frictionless manipulation in a plane. Contact formation trees used in conjunction with the simulated mechanics is a unique method for solving this problem; the solution we attain is an optimal reconfiguration plan. (Abstract shortened with permission of author.