论文信息 - MLD modeling and optimal control of hand manipulation

MLD modeling and optimal control of hand manipulation

In this paper, by taking a multi-contact planar manipulation system as an example, we propose a modeling and control approach based on hybrid system theory, whereby a dexterous manipulation task is formulated as a mixed logic dynamical (MLD) model. A model predictive control (MPC) is used to handling the control objectives of MLD system, which can be solved using powerful mixed integer quadric programming (MIQP) algorithm. The validation of the proposed approach is shown by simulation.

Shigeyuki Hosoe | Yingjie Yin | S. Hosoe | Yingjie Yin

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