A hybrid system approach to kinematic modelling of mutlifingered hand´s finger gaits

Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by rolling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, we propose a joint space representation of grasps, which represents a stable grasp by a set of joints values with several grasping constraints. Using primitives describing the regrasping process with the joint space representation, we build a kinematic model of finger gaiting as a hybrid automaton. In this model, all grasping constraints are involved. Finally, simulation results verify the validity and efficiency of the model