A hybrid system approach to kinematic modelling of mutlifingered hand's finger gaits

J. Xu, Guanfeng Liu, Z. Li

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

2 Citations (Scopus)

Abstract

Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by rolling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, we propose a joint space representation of grasps, which represents a stable grasp by a set of joints values with several grasping constraints. Using primitives describing the regrasping process with the joint space representation, we build a kinematic model of finger gaiting as a hybrid automaton. In this model, all grasping constraints are involved. Finally, Simulation results verify the validity and efficiency of the model.
Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages887-892
Number of pages6
Publication statusPublished - 2005
Externally publishedYes
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics - Monterey, CA
Duration: 24 Jul 200528 Jul 2005

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics
CityMonterey, CA
Period24/07/0528/07/05

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