MLD Modeling and MPC of Hand Manipulation

Yingjie YIN
Takayuki SUGIMOTO
Shigeyuki HOSOE

Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E88-A    No.11    pp.2999-3006
Publication Date: 2005/11/01
Online ISSN: 
DOI: 10.1093/ietfec/e88-a.11.2999
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Concurrent/Hybrid Systems: Theory and Applications)
Category: 
Keyword: 
dexterous manipulation,  MLD modeling,  MPC,  

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Summary: 
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.

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