ABSTRACT
The planner searches the (9,<f> 1,^ 2) configuration space from start to goal by searching its collection of (0i,02) subdivisions. Moving between different subdivisions is equivalent to rotating the part from one 6 orientation to another. For a fixed part orientation, the palms can perform two types of motions: (i) they can rotate about their contact points, or (ii) they can slide left or right. The labelled subdivisions tell the planner which of these motions are legal. For instance, the region boundaries in the subdivision tell the planner how far it can reorient a palm before either changing region classification or making palm-edge contact with the part. And the region classification itself tells the planner whether it can slide a given palm left or right.
