Modeling and control of multi- Nger ed robot hand for dexterous manipulation: A continuous and discrete hybrid approach

Yingjie Yin, Mikhail Mikhailovich Svinin, Shigeyuki Hosoe

Research output: Contribution to journalConference articlepeer-review

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 will be validated by simulation results.

Original languageEnglish
Pages (from-to)710-715
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume1
Publication statusPublished - Dec 1 2004
Event2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands
Duration: Oct 10 2004Oct 13 2004

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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