Planning Trajectories for Dexterous in-Hand Micro-Manipulation using Adhesion Forces

Micro-manipulation and micro-assembly techniques play today a key role in the development of new integrated smart systems that can find applications in strategic fields such as transport, telecommunication, health and defense. However, the existing micro-handling solutions lack of speed, flexibility and autonomy which represents an obstacle to the development of these technologies. Our approach consist in developing local micro-manipulation techniques using dexterous micro-hands. This paper focuses on the trajectory generation of a dexterous micro-hand to achieve automated repositioning and shows major differences between macro-hand and micro-hand. The first simulation results show that original trajectories using adhesion forces can be generated. Moreover, these kind of trajectories can be generated in about a second.