Title :
Hybrid Automaton: A Better Model of Finger Gaits
Author :
Xu, Jijie ; Lou, Yunjiang ; Li, Zexiang
Author_Institution :
Dept. of Electr. & Comput. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon
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, two primitives of finger gaits are introduced. Based on the characteristic of finger gaits, we model finger gaits as a hybrid automaton. Finally, we do simulations on a three fingered hand to verify the validity of our model
Keywords :
dexterous manipulators; large-scale systems; motion control; dextrous manipulation; finger gaits; hybrid automaton; large-scale motion; multifingered robotic hand; Automata; Buildings; Computer architecture; Fingers; Intelligent robots; Kinematics; Large-scale systems; Legged locomotion; Manipulator dynamics; Robotics and automation;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282171
