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.
|Number of pages||6|
|Journal||Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics|
|Publication status||Published - 2004|
|Event||2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands|
Duration: Oct 10 2004 → Oct 13 2004
All Science Journal Classification (ASJC) codes