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.
|ジャーナル||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|出版ステータス||出版済み - 11 24 2003|
|イベント||System Security and Assurance - Washington, DC, 米国|
継続期間: 10 5 2003 → 10 8 2003
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture