A hybrid systems approach toward modeling and dynamical simulation of dextrous manipulation Export

@article{citeulike:206233, abstract = {This paper presents an approach toward comprehensive discrete-continuous modeling and accurate dynamical simulation of dextrous manipulation. The resulting hybrid-state model integrates time-driven mechanical features of manipulation systems as well as their discrete-event aspects resulting from varying contact situations. It can easily be embedded into sophisticated simulation environments. A MATLAB implementation serves us as a tool for mechatronic control design for grasping systems. Results from dynamical simulations of a four-fingered hand grasping and manipulating an object demonstrate the efficiency and high accuracy of our approach.}, author = {Schlegl, T. and Buss, M. and Schmidt, G.}, citeulike-article-id = {206233}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1232295}, journal = {Mechatronics, IEEE/ASME Transactions on}, keywords = {dextrous, dynamical, hand, manipulation, simulation}, number = {3}, pages = {352--361}, posted-at = {2005-05-21 03:57:28}, priority = {5}, title = {A hybrid systems approach toward modeling and dynamical simulation of dextrous manipulation}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1232295}, volume = {8}, year = {2003} }

TY - JOUR ID - citeulike:206233 L3 - citeulike-article-id:206233 N2 - This paper presents an approach toward comprehensive discrete-continuous modeling and accurate dynamical simulation of dextrous manipulation. The resulting hybrid-state model integrates time-driven mechanical features of manipulation systems as well as their discrete-event aspects resulting from varying contact situations. It can easily be embedded into sophisticated simulation environments. A MATLAB implementation serves us as a tool for mechatronic control design for grasping systems. Results from dynamical simulations of a four-fingered hand grasping and manipulating an object demonstrate the efficiency and high accuracy of our approach. IS - 3 JF - Mechatronics, IEEE/ASME Transactions on EP - 361 TI - A hybrid systems approach toward modeling and dynamical simulation of dextrous manipulation VL - 8 SP - 352 KW - dextrous KW - dynamical KW - hand KW - manipulation KW - simulation AU - Schlegl, T AU - Buss, M AU - Schmidt, G PY - 2003/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1232295 ER -