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A well-known inverse kinematics algorithm for robot manipulators has been re-adapted to perform as a planner and a kinematic controller for dual-arm/hand dexterous manipulation tasks. This method allows assigning the object motion directly and retrieves the movement of the single fingers implicitly. Moreover, in the proposed framework, it is possible to exploit the redundancy of the whole system in contact with the object to ensure dexterity and perform stable grasps. Such a method is employed as a planner when a suitable parallel/force control is employed. A theoretical proof shows how such a parallel controller can handle non-planar surfaces too.

Proposed solutions: