  This paper explores the problem of autonomous, in-hand regrasping--the
problem of moving from an initial grasp on an object to a desired grasp using
the dexterity of a robot's fingers. We propose a planner for this problem which
alternates between finger gaiting, and in-grasp manipulation. Finger gaiting
enables the robot to move a single finger to a new contact location on the
object, while the remaining fingers stably hold the object. In-grasp
manipulation moves the object to a new pose relative to the robot's palm, while
maintaining the contact locations between the hand and object. Given the
object's geometry (as a mesh), the hand's kinematic structure, and the initial
and desired grasps, we plan a sequence of finger gaits and object reposing
actions to reach the desired grasp without dropping the object. We propose an
optimization based approach and report in-hand regrasping plans for 5 objects
over 5 in-hand regrasp goals each. The plans generated by our planner are
collision free and guarantee kinematic feasibility.
