  This paper addresses the planar finger kinematics for seeking optimized
manipulation strategies. The first step is to model based on geometric features
of linear and rotation motion so that the robot can select the fingers
configurations. This kinematic model considers the motion between hands and
object. Based on 2-finger manipulation cases, this model can output the
strategies for bimanual manipulation. For executing strategies, the second step
is to seek the appropriate values of finger joints according to the ending
orientation of fingers. The simulation shows that the computed solutions can
complete the relative rotation and linear motion of unknown objects.
