By Topic

Hybrid System Modeling and Control of Multi-contact Hand Manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Yingjie Yin ; Bio-Mimetic Control Research Center, RIKEN Moriyama-ku, Nagoya 463-0003, Japan, yin@bmc.riken.jp ; S. Hosoe ; T. Sugimoto ; F. Asano
more authors

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

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004