Sampling-based Planning of In-Hand Manipulation with External Pushes

This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effectively explores the space of continuous pushes with discrete pusher contact switch-overs. We model the frictional interaction between gripper, grasp…