Hybrid control of multi-fingered robot hand for dexterous manipulation

Yingjie Yin, Mikhail Svinin, Zhiwei Luo, Shigeyuki Hosoe

Research output: Contribution to journalConference article

15 Citations (Scopus)

Abstract

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 bio-mimetics. In this paper, we formalize the multi-fingered hand manipulation problem as a general dynamic complementarity (DC) system.Based on the fact that DC system can be transformed to a mixed logical dynamical (MLD) model, and that MLD system control problem can be solved using powerful mixed integer programming (MIP) algorithm, we propose to realize dexterous hand manipulation via MIP. We also investigate the force and joint motions when human hand performs object manipulations by using a cyber-grasp system, and study its robotic realization on GIFU hand III, which is equiped with tactile sensors. We suggest that, in order to obtain sub-optimal solutions, biologically inspired techniques might be very powerful.

Original languageEnglish
Pages (from-to)3639-3644
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume4
Publication statusPublished - Nov 24 2003
EventSystem Security and Assurance - Washington, DC, United States
Duration: Oct 5 2003Oct 8 2003

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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