MLD Modeling and MPC of Hand Manipulation(<Special Section>Concurrent/Hybrid Systems : Theory and Applications)

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概要

• 論文の詳細を見る

• Based on hybrid system theory, we propose a modeling and control approach for a multi-contact planar manipulation system, whereby a dexterous manipulation task is formulated as a mixed logic dynamical (MLD) model. The MLD model provides the possibility of carrying out the selection of modes, the timing for mode switching, and the determination of the continuous control input simultaneously in a systematical way. Model predictive control (MPC) is adopted for the synthesis of the dexterous hand manipulation system. The solution of the MPC can be found by using mixed integer quadric programming (MIQP) algorithm, and corresponds to the optimal motion of the hand manipulation. The validation of the proposed approach is shown by some simulation results.

• 社団法人電子情報通信学会の論文
• 2005-11-01

著者

• Hosoe Shigeyuki

  Bio-mimetic Control Research Center The Institute Of Physical And Chemical Research (riken):faculty

• YIN Yingjie

  Bio-Mimetic Controle Research Center, the Institute of Physical and Chemical Research

• SUGIMOTO Takayuki

  Faculty of Engineering, Nagoya University

• Sugimoto Takayuki

  Faculty Of Engineering Nagoya University

• Yin Yingjie

  Bio-mimetic Control Research Center The Institute Of Physical And Chemical Research (riken)

関連論文

• Robust Control of Robot Manipulator under Parameter Perturbation and External Disturbance with Adaptive Gravitational Compensation
• MLD Modeling and MPC of Hand Manipulation(Concurrent/Hybrid Systems : Theory and Applications)

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