Hybrid System Modeling and Control of Multi-contact Hand Manipulation

@article{Yin2004HybridSM,
  title={Hybrid System Modeling and Control of Multi-contact Hand Manipulation},
  author={Yingjie Yin and Takayuki Sugimoto and Shigeyuki Hosoe and Fumihiko Asano and Zhiwei Luo},
  journal={2004 IEEE International Conference on Robotics and Biomimetics},
  year={2004},
  pages={107-112}
}
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 biomimetics. In this paper, by considering the multicontact manipulation problem as a hybrid one, we propose a modeling framework which encapsulates switching between phases of continuous motion. The presentation is… CONTINUE READING

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