DocumentCode
427581
Title
Modeling and control of multifingered robot hand for dexterous manipulation: a continuous and discrete hybrid approach
Author
Yin, Yingjie ; Svinin, Mikhail ; Hosoe, Shigeyuki
Author_Institution
Bio-mimetic Control Res. Center, RIKEN, Nagoya
Volume
1
fYear
0
fDate
0-0 0
Firstpage
710
Abstract
By considering the dexterous multi-fingered manipulation problem as a hybrid one, we at first propose a MLD model which encapsulates occurrence of impacts, switching between types of contact motion, and phases of continuous motion. Then we deal with planning and tracking problem of the derived MLD system, propose to realize dexterous hand manipulation via MIQP. The effectiveness of the proposed approach is validated by simulation results
Keywords
continuous time systems; dexterous manipulators; discrete systems; integer programming; path planning; quadratic programming; MLD model; contact motion; dexterous manipulation; dexterous multifingered robot hand; mixed integer quadratic programming; mixed logic dynamic model; Control systems; Discrete event systems; Electronic mail; Fingers; Human robot interaction; Manipulator dynamics; Motion control; Motion planning; Power system modeling; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Conference_Location
The Hague
ISSN
1062-922X
Print_ISBN
0-7803-8566-7
Type
conf
DOI
10.1109/ICSMC.2004.1398385
Filename
1398385
Link To Document