Kinematic modelling of multifingered hand´s finger gaits as hybrid automaton

Large-scale motion of the grasped object is one of the tasks, which is involved in practical dexterous 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, by using which all grasping constraints are involved. Then, a simple but representative simulation is setup, whose results verify the validity and efficiency of the model. Finally, we state several interesting future works, which can greatly be extended based on the hybrid automaton we proposed in this paper.