This paper presents a constrained motion planning to flip objects grasped considering soft-finger contact while avoiding rotational slip (or namely drooping). The drooping motion in inclined planes is studied under the effect of the object weight and the friction torque exerted by soft fingertips. The analytical model of the drooping motion is derived and used in the proposed constrained planner to restrict the robot poses that can cause the object held by the gripper to slip. The constrained planner is analyzed and verified through both simulation and real-world experiments. The results show that the generated robot motion sequences enable correct execution of the flipping task while avoiding slip.
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