Modeling and control of multifingered robot hand for dexterous manipulation: a continuous and discrete hybrid approach

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.