# Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs

arXiv: https://arxiv.org/abs/1904.11382 · HTML: https://mlsanity.com/paper/1904.11382/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Apr 2019.

## Built on by (most cited first, 1 of 1)

- [Learning to Regrasp by Learning to Place](https://mlsanity.com/paper/2109.08817/) (2021)

## Abstract (arXiv)

This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and regrasping. The DMG is a disconnected undirected graph that represents the possible motions of a finger along the object's surface. We formulate the in-hand manipulation and regrasping problem as a graph search problem from the initial to the final configuration. The resulting plan is a sequence of coordinated in-hand pushing and regrasping movements. We propose a dual-arm system for the execution of the sequence where both hands are used interchangeably. We demonstrate our approach on an ABB Yumi robot tasked with different grasp reconfigurations.