Hybrid closed-loop control of robotic hand regrasping

Abstract

We propose an approach to model a robotic hand as a hybrid discrete-continuous dynamical system. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The hybrid approach yields a comprehensive model of a closed-hoop controller for dextrous (re)grasping. Insights in the closed-loop behavior and compensation strategies for discrete state errors due to object geometry modeling errors are presented. Simulations validate the hybrid systems approach to regrasping.