MLD Modeling and MPC of Hand Manipulation

Yingjie YIN; Takayuki SUGIMOTO; Shigeyuki HOSOE

doi:10.1093/ietfec/e88-a.11.2999

MLD Modeling and MPC of Hand Manipulation

Yingjie YIN, Takayuki SUGIMOTO, Shigeyuki HOSOE

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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.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E88-A No.11 pp.2999-3006

Publication Date: 2005/11/01

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DOI: 10.1093/ietfec/e88-a.11.2999

Type of Manuscript: Special Section PAPER (Special Section on Concurrent/Hybrid Systems: Theory and Applications)

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Yingjie YIN, Takayuki SUGIMOTO, Shigeyuki HOSOE, "MLD Modeling and MPC of Hand Manipulation" in IEICE TRANSACTIONS on Fundamentals, vol. E88-A, no. 11, pp. 2999-3006, November 2005, doi: 10.1093/ietfec/e88-a.11.2999.
Abstract: 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.
URL: https://globals.ieice.org/en_transactions/fundamentals/10.1093/ietfec/e88-a.11.2999/_p

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@ARTICLE{e88-a_11_2999,
author={Yingjie YIN, Takayuki SUGIMOTO, Shigeyuki HOSOE, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={MLD Modeling and MPC of Hand Manipulation},
year={2005},
volume={E88-A},
number={11},
pages={2999-3006},
abstract={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.},
keywords={},
doi={10.1093/ietfec/e88-a.11.2999},
ISSN={},
month={November},}

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TY - JOUR
TI - MLD Modeling and MPC of Hand Manipulation
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 2999
EP - 3006
AU - Yingjie YIN
AU - Takayuki SUGIMOTO
AU - Shigeyuki HOSOE
PY - 2005
DO - 10.1093/ietfec/e88-a.11.2999
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E88-A
IS - 11
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - November 2005
AB - 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.
ER -