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
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;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Conference_Location :
The Hague
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1398385
