Hybrid automaton: A better model of finger gaits

Jijie Xu; Yunjiang Lou; Zexiang Li

doi:10.1109/IROS.2006.282171

Hybrid automaton: A better model of finger gaits

Jijie Xu^*
, Yunjiang Lou
, Zexiang Li

^*Corresponding author for this work

Hong Kong University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by roling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, two primitives of finger gaits are introduced. Based on the characteristic of finger gaits, we model finger gaits as a hybrid automaton. Finally, we do simulations on a three fingered hand to verify the validity of our model.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	4628-4633
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282171
State	Published - 2006
Externally published	Yes
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	9/10/06 → 15/10/06

Access to Document

10.1109/IROS.2006.282171

Cite this

@inproceedings{17729af466dd4388adca3c04ad9438ea,

title = "Hybrid automaton: A better model of finger gaits",

abstract = "Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by roling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, two primitives of finger gaits are introduced. Based on the characteristic of finger gaits, we model finger gaits as a hybrid automaton. Finally, we do simulations on a three fingered hand to verify the validity of our model.",

author = "Jijie Xu and Yunjiang Lou and Zexiang Li",

year = "2006",

doi = "10.1109/IROS.2006.282171",

language = "英语",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4628--4633",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

Xu, J, Lou, Y & Li, Z 2006, Hybrid automaton: A better model of finger gaits. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4059147, IEEE International Conference on Intelligent Robots and Systems, pp. 4628-4633, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 9/10/06. https://doi.org/10.1109/IROS.2006.282171

Hybrid automaton: A better model of finger gaits. / Xu, Jijie; Lou, Yunjiang; Li, Zexiang.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 4628-4633 4059147 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Lou, Yunjiang

AU - Li, Zexiang

PY - 2006

Y1 - 2006

N2 - Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by roling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, two primitives of finger gaits are introduced. Based on the characteristic of finger gaits, we model finger gaits as a hybrid automaton. Finally, we do simulations on a three fingered hand to verify the validity of our model.

AB - Large-scale motion of the grasped object is one of the tasks, which is involved in practical dextrous manipulation of multifingered robotic hand. When the large-scale motion can not be accomplished only by roling and sliding of the finger, finger gaiting, or regrasping, is used. In this paper, two primitives of finger gaits are introduced. Based on the characteristic of finger gaits, we model finger gaits as a hybrid automaton. Finally, we do simulations on a three fingered hand to verify the validity of our model.

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DO - 10.1109/IROS.2006.282171

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SN - 142440259X

SN - 9781424402595

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BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

Hybrid automaton: A better model of finger gaits

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