Dextrous hand regrasping using hybrid system models

Summary form only given. In this paper we present a novel approach to force planning during multifingered regrasping. Hybrid (discrete-continuous) system models are used for reference generation for the regrasping finger. An impedance control algorithm including a real-time applicable grasping force optimization method implements the regrasping task. Simulation results show the efficiency and simplicity of our approach to regrasping.