Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and
  Collision Avoidance for In-Grasp Manipulation   This paper proposes a novel approach to performing in-grasp manipulation: the
problem of moving an object with reference to the palm from an initial pose to
a goal pose without breaking or making contacts. Our method to perform in-grasp
manipulation uses kinematic trajectory optimization which requires no knowledge
of dynamic properties of the object. We implement our approach on an Allegro
robot hand and perform thorough experiments on 10 objects from the YCB dataset.
However, the proposed method is general enough to generate motions for most
objects the robot can grasp. Experimental result support the feasibillty of its
application across a variety of object shapes. We explore the adaptability of
our approach to additional task requirements by including collision avoidance
and joint space smoothness costs. The grasped object avoids collisions with the
environment by the use of a signed distance cost function. We reduce the
effects of unmodeled object dynamics by requiring smooth joint trajectories. We
additionally compensate for errors encountered during trajectory execution by
formulating an object pose feedback controller.

27
The categories of this paper are: comp-gas
28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph
18
The categories of this paper are: econ
19
The categories of this paper are: eess
13
The categories of this paper are: quant-ph
3
The categories of this paper are: physics
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat
2
The categories of this paper are: math
17
The categories of this paper are: q-fin
22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin