Hybrid System Modeling and Control of Multi-contact Hand Manipulation

Human hand can not only catch and grasp the complex objects but also easily manipulate the objects by switching various types of interactions. Research on the basic mechanics and control principles of hand´s dexterous manipulation abilities is one of the most important subjects in biomimetics. In this paper, by considering the multicontact manipulation problem as a hybrid one, we propose a modeling framework which encapsulates switching between phases of continuous motion. The presentation is illustrated by a typical example, multicontact whole finger manipulation problem, where in addition to the continuous part the event driven component should be carefully designed. We first formulates the robot hand subject to unilateral constraints into a general dynamic complementarity (DC) system expression, then transform DC system to a mixed logical dynamical (MLD) model. Based on the derived MLD model dexterous finger manipulation can be realized via mixed integer quadric programming (MIQP) algorithm. Further more, MLD model can be expected for subsequent stability and control studies, which is still missing in the field of multicontact robot system design by taking into account the whole hybrid dynamics