A discrete-continuous control approach to dextrous manipulation

In this paper we present a control approach to dextrous manipulation based on a hybrid (discrete-continuous) dynamical system model. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The three components of the proposed discrete-continuous control approach to (re)grasping are a hybrid planning scheme for regrasping and discrete grasp state error compensation, an efficient grasping force optimization algorithm, and a variable structure grasp impedance controller. Experimental results are presented to validate the approach