9532081 Walker The dynamics of dextrous manipulation involving contact conditions is investigated in this research project. Typical examples of tasks with a predominant contact include insertion, tapping and levering, etc. The ability to use contact dynamics can often completely transform the nature of a task, making its performance faster and simpler than under quasi-static constraints. Specifically, this research project formulates new models of dynamic dextrous grasping and manipulation, focusing on the question of dynamics resulting from impact; identifies canonical dynamic grasping tasks involving contact and impact, and develops effective algorithms for planning and performing these tasks; and experimentally evaluates the developed algorithms using multi fingered hardware hands.***
