Holonic grasping

This paper investigates the holonic modeling of multifingered robotic hands where 2-stem-of-links+1-joint holons having basic kinematic properties are considered, working in colony in order to perform dexterous grasps. Those holons are the simplest physical elements, which have the capabilities of independent actuation, and of cooperation with other holons in achieving global behavior for the whole structure. Our work focuses on the concept of self-reconfigurability of the modular colony structure so as the holons reconfigure themselves to a pre-described structure in the absence of a human in the loop. The reconfiguration control of the dynamical holonic hand is a regrasp control and is developed based on hybrid control since our system exhibits both discrete and continuous behaviors